A fusion attitude determination method based on quaternion for MEMS gyro/accelerometer/magnetometer

With the development of new technologies and market demand changing, MEMS gyroscope has been widely used. But low accuracy, large drift and other defects limit its application in some areas. This paper presents an attitude fusion algorithm based on the MEMS gyroscope, MEMS accelerometer and MEMS magnetometer. Firstly, the error model of the MEMS gyroscope was established, and rotation vector method to determine the gyro attitude was introduced. Then the state equation and observation equation of the designed Kalman filter was derived. Finally, experimental results illustrated the effectiveness of the fusion algorithm. That is, with the proposed fusion attitude determination algorithm, it is able to compensate gyro drift and provide a reliable and stable attitude for a long time.