A low-cost pose estimation method based on the updated second order measurement

The present invention provides a second order low-cost pose estimation method based on the updated measurement. The present invention triaxial gyroscope, accelerometer and triaxial micromachined magnetometer triaxial output data, and attitude information for the filtering process to obtain a carrier. For indoors or strong magnetic interference properties magnetometer output increases the roll and pitch error becomes large, the conventional method can not solve the problem. This method of measurement update phase filter, innovative use of second order measurement update, i.e. an acceleration measurement to measurement update then the update measurement magnetometer measurement. Thereby modifying the standard measurement update algorithm so that the magnetometer updates affect only azimuth. With the present method may use a low-cost micro-inertial measurement unit and magnetometers for attitude estimation, estimation and high accuracy, real time, to adapt to environmental magnetic interference. This method is applicable to vehicles, unmanned aerial vehicles, and ships and other carriers pose estimation.