利用加速度计和角速度仪的笔杆运动姿态检测  

Pen motion attitude measurement using accelerometer and gyroscope

作　　者：曹丽[1] 刘扬[1] 刘伟[1] 

机构地区：[1]清华大学自动化系,北京100084

出　　处：《仪器仪表学报》2008年第4期831-835,共5页Chinese Journal of Scientific Instrument

摘　　要：在笔杆上安装加速度和角速度传感器测量笔杆的运动姿态时,由于两种传感器的性质不同,再经过运算处理后,对测量结果精度的作用也不同。为此,本文利用3种卡尔曼滤波观测模型,分析比较了只利用加速度传感器、只利用角速度传感器以及同时利用加速度和角速度传感器数据3种情况下估计笔杆运动姿态的结果及特点。实验表明,角速度传感器可以较准确地确定角速度,但角度累计误差较大;加速度传感器的静态分量可以较准确地确定姿态角度,但对角度变化不灵敏,两者结合起来可以互相弥补欠缺,有利于笔杆的运动姿态检测。It＇s necessary for signature recognition and calligraphy research to get the attitude information of a pen by mounting accelerometer and gyroscope on it. In this paper, the difference between the two types of sensors is analyzed and compared on the total accuracy of attitude measurement. As a result, accelerometer corrects the attitude angle but is not sensitive to the angular rate, on the other hand, gyroscope measures the attitude angular rate but the accumulated error of attitude angle is large and the initial angle is hard to get. The experimental results show that integrating the two types of sensors will advantage dynamic attitude measurement.

关 键 词：加速度计 陀螺仪 笔杆运动检测 姿态角 姿态角速率 

分 类 号：TP223[自动化与计算机技术—检测技术与自动化装置]