Initial Attitude Determination of Aerial Platform Based on MIMU

Aiming at the problem of initial attitude determination of aerial platform, a low computational attitude fusion algorithm is proposed based on MIMU. Attitude kinematic equations described by quaternions are developed and the filter structure used in this paper is designed. Real fly test results show that: at different initial deviation, the alignment precision of roll and pitch angles are within 1 °, attitude errors converge to 5 °or less within 12s, which meets the requirements of the aerial platform attitude fast self-determination. The filter algorithm has a small amount of calculation and is easy to be realized.