High-precision attitude correction method based on vertical deviation compensation

摘要: The invention discloses a high-precision attitude correction method based on vertical deviation compensation. comprises the following steps: (1) solving value of certain moment before current moment; (2) corresponding to tt; (3) performing gravity compensation, wherein in initial measurement phase, when tt is less than delta t, disturbance compensation by using (the structural formula as shown specification), more or equal t and 2delta output measured values eta i xi at tt, calculated step (2); (4) update, update virtue combination speed position after compensated. disclosed has advantages that precision reliability can be improved, like.