Attitude Fusion Algorithm for the "Satcom on the move" System in a Highly Manoeuvrable Environment

When the three-axis "Satcom on the move" stable platform is subjected to intense maneuvering and variable speed motion of the carrier, a multi-sensor data fusion approach is designed to effectively tackle the problem of external kinematic acceleration other than gravity acceleration impacting accuracy and real-time of attitude solution. The attitude information is described using the quaternion. The quaternion differential equation and the gradient descent method are used to fuse real-time attitude quaternion, and the parameter β in the attitude fusion algorithm is updated based on the angular velocity measured by the gyroscope and the external acceleration, allowing the gyroscope rate integral drift to be corrected adaptively and thus reinforcing dynamic performance of the algorithm. Finally, The experimental results indicate the proposed algorithm reduces the adverse effects of external acceleration on attitude solution, and has better accuracy, dynamic performance, and anti-interference, compared with the cross-product fusion algorithm and the gradient descent algorithm, thus laying a good foundation for the subsequent tracking control of the stable platform.