针对互补滤波器在组合导航中无法适应载体运动状态变化和周围磁场干扰问题，设计一种多传感器可变参数互补滤波算法。首先，在频域上分析各传感器噪声，根据其频率互补性设计多传感器互补滤波器；其次，通过加速度计和电子罗盘输出监测载体运动状态和磁场环境，设定可变滤波器参数以降低上述变化引起的估计误差；最后，以FPGA为核心，MEMS陀螺仪、加速度计和电子罗盘构建组合导航系统验证算法。实验表明，与商业级姿态航向参考系(AHRS)测量值对比，该算法能够确保系统较高精度的输出，且有效降低载体运动状态变化和磁场干扰影响。

Aiming at the problem that the complementary filtering in the integrated navigation system could not adapt to the motion state change and the magnetic field disturbance, a multi-sensor complementary filtering algorithm with variable parameters is designed.Firstly, the sensor noise is analyzed in frequency domain, and the complementary filter is designed according to the spectral characteristics.After that, the motion state and magnetic field are monitored through accelerometer and electronic compass, according which to set the filter parameters to decrease the estimation error.Finally, with FPGA as the core processor, an integrated navigation system of MEMS gyroscope, accelerometer and electronic compass is developed to verify the algorithm.The experimental results show that:Compared with the commercial AHRS, the algorithm can keep a higher system output accuracy, and reduce the influence of the motion state change and the magnetic field disturbance effectively.