Absolute attitude measurement based on multi-sensor fusion

Abstract

In the field of positioning and navigation, the measurement and transmission of absolute attitude are often used in the initial calibration process of positioning and navigation equipment. This requires higher absolute attitude measurement accuracy and lower measurement complexity. In order to solve the problems of high complexity and time-consuming of traditional absolute attitude measurement, a multi-sensor fusion absolute attitude measurement method is proposed. This method uses an optical camera to calculate the angle offset, employs a biaxial inclination sensor to measure horizontal angles, and utilizes GNSS differential positioning to introduce true azimuth angle. The experimental results of the prototype show that under the condition of 60 m baseline length, the max uncertainty of yaw, pitch, and roll angle measurement is 14.13”, 4.41”, and 3.53” respectively, and the average single measurement time consumption is 2.73 minutes.