Application of extended Kalman filtering algorithm in multi-sensor information fusion

A novel precise Kalman Filter model applied to the attitude control system was presented. Considering not only the non-liner relationship between the measured value of accelerator sensor and Euler Angle but also the conversion of body axis system to geodetic coordinate system. The noise parameter was obtained accurately by using offline testing. The test platform was set up utilizing STM32,and the data of static testing and dynamic testing was provided.