Aiming at defect of the action range of the adaptive Kalman filtering algorithm used in the first generation of the sailing attitudes

measurement system is limited and dynamic performance is poor

two adaptive methods are presented based on micro-electro-mechanical system（ MEMS） inertial sensors and gradient descent attitude fusion algorithm. Adptive control factors are designed according to the average motion acceleration and the variation of acceleration of N sampling points before the current time respectively to obtain stable dyamic gradient descent steps. Experimental results indicate that the performances of the two algorithms are prior to the adaptive Kalman filtering and single-point acceleration restrained algorithms

among them

the acceleration increment-based control algorithm is proved to be consistent with real rule of drastic acceleration changes in high-speed motion state

measurement performance achieve the optimum which meets the real requirement of sailing attitude measurement.