An attitude tracking method considering acceleration compensation and based on UKF

In this paper, an attitude tracking method considering acceleration compensation and based on UKF is proposed for measurement units integrating gyroscopes, accelerometers and magnetic sensors. Main characteristics of this method include: 1) the translational acceleration vector is combined with the quaternion describing attitude and the aggregate error vector of gyroscopes to constitute the system state vector; 2) acceleration vector measured by the accelerometers is regarded as combination of the gravity and the translational acceleration of the unit, then according to its amplitude and its normalized directional vector, the system state model and measurement model are established; 3) UKF is applied to implement filtering and tracking for the sake of nonlinearity of the system model. Comparing to the traditional Kalman filter, our method not only can achieve more accurate tracking results, but has stronger robustness to the unit´s motion mode, which broadens its application field to some extent.