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Elimination of External Acceleration of AHRS Based on Secondary Cubature Kalman Filtering

The external acceleration acting on the navigation body will cause the accelerometer output angle information error, which will result in a decrease in navigation accuracy. This paper proposes a method for external acceleration elimination of accelerometer acquisition data using the secondary Cubature Kalman filter (CKF). The method uses measurement noise to have obvious difference in the presence or absence of external acceleration, constructs the difference model between the actual measurement value and the estimated measurement value, uses the secondary CKF to update the measurement noise, and achieves The purpose of the impact of the elimination of external acceleration when the accelerometer measures the gravity acceleration.