Based on bootstrap external acceleration estimate of AHRS

In the AHRS using accelerometer can correct the error when calculating the attitude information of gyroscope. However, in the AHRS work process, the accelerometer measures the acceleration of gravity is affected by the external acceleration, and the accuracy is lost, which leads to the increase of the error of the attitude information. In order to estimate the external acceleration, this paper proposes to use Bootstrap to resample the three-axis accelerometer measurement to obtain regular data. According to the three-axis component of the accelerometer in the case of no external acceleration, the square sum is the principle of the gravitational acceleration value, the nonlinear least squares method is used to solve the external acceleration of each axis. Using MATLAB to read the numerical value based on the accelerometer to estimate the external acceleration data, and compare the standard values, analysis conclusions.