Abstract: A prototype of attitude determination for miniature air vehicles (MAV) is constructed.The performance of MEMS inertial sensors and the bias models with respect to temperature are analyzed.A nine-position calibration method for non-orthogonal and alignment error is present.The noise of MEMS inertial sensors is analyzed using correlation theory.Based on micro inertial navigation system and the noise characteristic of MEMS inertial sensors, attitude integrated algorithm adapt to real application in MAV is constructed.The performance of horizontal attitude is tested on rotating floor.Bias stability of gyro and accelerometer is 0.036 (°) s and 0.01 m/s², and the RMS errors of roll and pitch are 0.33ånd 0.28°respectively.Test results indicate that error compensation on sensors and system has an integrated effect with attitude error reduced by 50%.MEMS-INS-based attitude determination can meet the need of autonomous attitude stabilization of MAV.

Key words: miniature air vehicle (MAV), error compensation, MEMS-based inertial navigation system, attitude determination