应用磁强计和加速度计的连杆运动角度计算  

A method for calculating the motion angle of linkages using magnetometers and accelerators

作　　者：张可[1,2] 柴毅[1] 翟茹玲[1] 冯文武[1,3] 魏勇 

机构地区：[1]重庆大学自动化学院,重庆400030 [2]贵湖大学工程系,加拿大安大略省N1G2W1 [3]中国航天科技集团公司五院五一四所,北京100086 [4]重庆市城区供电局,重庆400013

出　　处：《重庆大学学报（自然科学版）》2009年第3期341-348,共8页Journal of Chongqing University

基　　金：重庆市自然科学基金资助项目(CSTC,2006BB5196)

摘　　要：为解决多关节连杆连续变换中的运动姿态求解问题,研究通过磁感应强度和加速度测量并求解运动模型和姿态位置的方法,利用地球磁场和重力场在地理坐标系和基础坐标系之间的方向余弦转换进行绝对角度运算,得到姿态角(航向角、俯仰角和滚转角)的磁感应强度和加速度表示。分析了坐标系变换过程中的角度转换,推导出连续变换过程中连杆姿态角和连杆间夹角的关系式,并以一个实例作了验证分析。该模型能够解决姿态角和绝对运动角的转换,在连杆运动姿态表示中有较好的通用性。To describe the motion state of multi-joint-linkage in series transformation, a method to solve the motion state and attitude position by measuring the magnetic induction density and acceleration is studied. The angle calculation is performed by employing the direction cosine transformation between the geographical coordinate and the basic coordinates of the magnetic and gravitational fields of the earth. The mode of the attitude angle, denoted by the magnetic induction density and acceleration, is obtained. The angle transformation during the coordination transformation is analyzed. The relationship between attitude angle of the linkage and the angle of the linkage in the series transformation is deduced. An example is used to verify the model. This model can solve the transformation problem between attitude angle and real angle, which is the same as the motion expression of the body.

关 键 词：姿态检测 传感器组合 磁感应强度 角度变换 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]