Based on the parameters determining the vector micro inertial flight mode discrimination adaptive gesture

The present invention discloses a carrier based on the flight mode discrimination inertia micro adaptive parameter determination posture, the sensor output data, calculate long and short-cycle period of the sensor characteristic parameter vector which is determined according to a change of these parameters and scope exercise mode, then the error variation characteristic micro attitude reference system under different modalities motion vector, adaptive strategy Kalman filter design parameters; posture through the Kalman filter and the observation of residual squares sequence variations, online assess the merits of the current difference between the filtering effect of the parameters, the parameters in the form of feedback regulation confidence filter parameters of the Kalman filter. The present invention simplifies the traditional method of determining the micro-inertial pose determined threshold choice and setting to prevent the effects of altitude and support for sensor drift error condition is determined, comprehensively consider the static and dynamic operating characteristics of a micro attitude reference system, improve Micro Attitude static and dynamic stability of the adaptive reference system.