基于MEMS传感器的微型姿态确定系统研究  

Study of Micro Attitude Determination System Based on MEMS Sensors

作　　者：薛亮[1] 李天志[2] 李晓莹[1] 常洪龙[1] 

机构地区：[1]西北工业大学微／纳米系统实验室,西安710072 [2]成都飞机工业(集团)有限责任公司,成都610092

出　　处：《传感技术学报》2008年第3期457-460,共4页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目资助(50505038)

摘　　要：针对捷联式姿态确定系统误差随时间积累的缺点,设计了一种由MEMS陀螺、加速度计及微磁强计组合的姿态确定系统。采用Allan方差方法分析了陀螺随机误差,通过建立姿态误差四元数微分方程和磁强计线性化测量方程,设计了姿态估计卡尔曼滤波器。系统采用实际测量值进行姿态解算,结果表明这种组合能够有效抑制传感器随机漂移引起的姿态误差,系统具有体积小、成本低、性能可靠等优点。An attitude determination system composed of MEMS gyroscopes, accelerometers and magnetometer is designed. The system can solve the problem of error accumulation in the strap-down attitude determination system. The stochastic errors of gyroscope are analyzed through Allan variance. Quaternion error differential equation and magnetometer linearized measurement equation are established, a Kalman filter is designed for attitude estimation. The attitude is calculated with practical sensors＇ output. The experimental results indicate that this combination could effectively restrain attitude error arising from the random drift of sensor. The system has the characteristics of small size, low cost, and good reliability.

关 键 词：姿态确定 ALLAN方差 卡尔曼滤波 随机漂移 磁强计 

分 类 号：U666.12[交通运输工程—船舶及航道工程]