Aiming at the problem of integral cumulative error and noise error in carrier inertial navigation system

such as aircraft and vehicle

which results in the attitude angle deviation increasing

a PID adaptive Kalman filtering algorithm is proposed based on the INS complementary theory. The algorithm firstly integrates the real-time angle value calculated by the accelerometer and the gyroscope

uses the PID controller to suppress the error fluctuation and uses as measurement data

gyroscope data as state data; and then combines the data through the filtering equation with the adaptive coefficient

give a detailed theoretical analysis process

and finally obtain credible attitude positioning information. The inertial measurement unit MPU6050 data is processed in real-time by DSP. The experimental results show that compared with the commonly used attitude filtering algorithm

the precision of the new algorithm is improved by 50%

and the operation time is shortened by 40 %

which basically meets the actual needs.