基于低成本磁场和MEMS惯性传感器的姿态测定系统(英文)  

Attitude determination system with low cost magnetic and MEMS inertial sensors

作　　者：杨克虎[1] 史英桂[2] 姬靖[1] 郭建军 郁文生[1] 

机构地区：[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

出　　处：《中国惯性技术学报》2008年第5期556-562,共7页Journal of Chinese Inertial Technology

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。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° .

关 键 词：姿态估计 四元数 卡尔曼滤波 MEMS惯性传感器 

分 类 号：U666.1[交通运输工程—船舶及航道工程]