Kalman Filtering of Attitude Measurement with Magnetometer and Gyroscope

In the present research of integrated navigation based on magnetometer,it is firstly needed to determine the roll angle.Aiming at the problem,a Kalman filtering algorithm based on magnetometer and MEMS gyroscope was proposed in this paper.By applying angular rate of gyroscope and combing with the rolling angular of the earth magnetic component,the projectile attitude was obtained through Kalman filtering,which estimated three attitude angles simultaneously without any transcendental hypothesis.Error analysis showed that the proposed algorithm was appropriate and the error of attitude angle was relatively small and did not accumulate over time.