Research on Attitude Resolution Method Based on Improved Complementary Filtering

Aiming at the problem that the accuracy of the attitude monitoring system of the aircraft horizontal attitude is not high in the process of aircraft jacking, and some staff need to determine whether the aircraft is level through the trim indicator. Therefore, an attitude calculation method based on improved complementary filtering and EKF/KF fusion was proposed. In this method, the data of gyroscope and accelerometer are fused by complementary filtering and PID algorithm, and the obtained attitude data and the output data of the accelerometer are fused by extended Kalman filter. Finally, the heading Angle in the obtained attitude Angle is fused with the magnetometer data by linear Kalman filter to obtain the final attitude. The optimal attitude estimation of the aircraft jacking process is completed.