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| 基于低成本磁场和MEMS惯性传感器的姿态测定系统 | |
| 引用本文： | 杨克虎,史英桂,姬靖,郭建军,郁文生.基于低成本磁场和MEMS惯性传感器的姿态测定系统[J].中国惯性技术学报,2008,16(5). |
| 作者姓名： | 杨克虎 史英桂 姬靖 郭建军 郁文生 |
| 作者单位： | 1. 中国科学院,自动化研究所,北京,100190 2. 天津航海仪器研究所,天津,300131 3. 宏易未来(北京)科技有限公司,北京,100085 |
| 摘 要： | 在机器人、小型无人自主飞行器等严格限制成本、体积、功耗的应用场合,一套合适的姿态测定系统显的尤为重要。为此,提出了一种低成本的实时姿态决定系统,该系统由传感器模块和数字信号处理器(DSP)组成。传感器模块由一个三轴的磁罗盘和一个基于MEMS技术的惯性测量单元构成,文中对系统的软硬件设计进行了详细的论述。在此嵌入式平台上面,开发了一套基于四元数和扩展卡尔曼滤波的姿态估计算法,对算法的原理进行了详细介绍。最后给出的实验结果显示此系统具有相当高的性能,姿态角误差的方差在0.02°以下。 |
| 关 键 词： | 姿态估计 四元数 卡尔曼滤波 MEMS惯性传感器 |
Attitude determination system with low cost magnetic and MEMS inertial sensors |
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| YANG Kehu,SHI Yinggui,JI Jing,GUO Jianjun,YU Wensheng.Attitude determination system with low cost magnetic and MEMS inertial sensors[J].Journal of Chinese Inertial Technology,2008,16(5). | |
| Authors: | YANG Kehu SHI Yinggui JI Jing GUO Jianjun YU Wensheng |
| Abstract: | A low cost real-time attitude determination system which consists of a sensor module and an embed DSP microprocessor is described in this paper. The sensor module consists of a 3-axis magnetic compass and a MEMS Inertial Measurement Unit (IMU). An attitude estimate algorithm has been developed on the embed platform, and it uses a time-varying Additive Extended Kalman Filter based on the quaternion of rotation. Final experiment result demonstrates that this low cost system has a rather high performance, and the variances of attitude angles are below 0.02°. |
| Keywords: | attitude determination quaternion Kalman Filter MEMS inertial sensor |
| 本文献已被 CNKI 万方数据 等数据库收录！ | |