Process / pipelineAttitude Estimation
姿态航向参考系统 (AHRS)
姿态航向参考系统 (AHRS) 是一种完整的惯性导航子系统，用于估计和输出飞行器或平台的三个维度上的姿态和航向。AHRS 通过传感器融合算法（通常是卡尔曼滤波器或互补滤波器）结合加速度计、陀螺仪和磁力计的测量值，提供无漂移、快速的姿态估计。AHRS 在航空、航海导航和现代自主系统中是标准配置。
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来源
- Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates. link ↗
- Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology. DOI: 10.1049/PBRA017E ↗
- Madgwick, S. O. H., Harrison, A. J. L., & Vaidyanathan, R. (2011). Estimation of IMU and MARG orientation using a gradient descent algorithm. IEEE International Conference on Rehabilitation Robotics (ICORR), 1–7. link ↗
如何引用本页
ScholarGate. (2026, June 3). Attitude Heading Reference System. ScholarGate. https://scholargate.app/zh/aerospace/ahrs
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