Research on Strapdown Attitude Algorithm Based on MIMU/ADS Integration

To improve the attitude measurement accuracy of the aircraft in continuous high-dynamic scenarios and ensure autonomy, a strapdown attitude algorithm based on MIMU/ADS integration is proposed. First, under the premise of missing heading information, a simplified attitude update algorithm and a carrier system velocity update algorithm are derived to reduce computational load. Next, true air speed information from the air data system (ADS) is introduced, and an MIMU/ADS velocity integration algorithm that does not depend on heading information is designed, combined with the strong tracking adaptive filter to improve the attitude accuracy. Finally, the flight test results show that, compared with the traditional horizon algorithm, this method effectively improves the aircraft’s horizontal attitude measurement accuracy in long-term, large-maneuver scenarios and offers greater environmental adaptability.