[3] [3] POURTAKDOUST S H,ASL H G.An adaptive unscented Kalman filter for quaternion-based orientation estimation in low-cost AHRS［J］.Aircraft Engineering and Aerospace Technology,2007,79(5): 485-493.

[4] [4] AHMED H,TAHIR M.Accurate attitude estimation of a moving land vehicle using low-cost MEMS IMU sensors［J］.IEEE Transactions on Intelligent Transportation System, 2017,18(7): 1723-1739.

[5] [5] XING L,HANG Y J,XIONG Z.Accurate attitude estimation using ARS under conditions of vehicle movement based on disturbance acceleration adaptive estimation and correction［J］.Sensors,2016,16(3): 1716-1732.

[6] [6] WANG M L,WANG H.An adaptive attitude algorithm based on a current statistical model for maneuvering acceleration［J］.Chinese Journal of Aeronautics,2017,30(1): 426-433.

[7] [7] LEE J K,PARK E,ROBINOVITCH S.Estimation of attitude and external acceleration using inertial sensor mea-surement during dynamic conditions［J］.IEEE Transactions on Instrumentation and Measurement,2012,61(8): 2262-2273.

[8] [8] SABATINI A M.Quaternion-based extended Kalman filter for determining orientation by inertial and magnetic sensing［J］.IEEE Transactions on Biomedical Engineering, 2006,53(7): 1346-1356.