基于磁/惯性传感器旋转弹体定姿的Kalman滤波器设计  

Design of Kalman filter of attitude measurement of spinning projectile based on magnetic sensors and inertial sensors

作　　者：李玎[1,2] 卜雄洙[1] 向超[1] 曹志谦[3] 

机构地区：[1]南京理工大学机械工程学院,南京210094 [2]江苏技术师范学院,常州213001 [3]西安机电信息研究所,西安710065

出　　处：《中国惯性技术学报》2010年第1期76-80,共5页Journal of Chinese Inertial Technology

基　　金：兵器行业支撑基金(62301110506)

摘　　要：微惯性传感器精度较低,其漂移会引起很大的姿态误差,不能提供长时间稳定姿态;磁传感器组合的姿态角误差不随时间累积但姿态角更新速度慢。针对这一问题提出了利用磁/惯性传感器构建低成本姿态探测系统的方案,设计了Kalman滤波器融合二者信息——以磁传感器解算的姿态角和等效旋转矢量法解算的姿态角之差作为观测量,以惯性传感器的漂移和姿态误差角作为状态变量,整个解算过程无需使用地磁场强度。仿真结果表明了该算法的有效性,二者组合定姿可实现高精度的姿态测量。The low accuracy of MEMS inertial sensors cannot provide long-time steady attitude due to large attitude error caused by drift, and the attitude error calculated by magnetic sensors is not accumulated with time, the speed of attitude update is slowly. In order to solve these questions, a low cost scheme of full attitude detection system composed of inertial sensors and magnetic sensors is presented, and the Kalman filter is adopted to merge the information corned from inertial sensors and magnetic sensors. The difference between attitude angles calculated by magnetic sensors and method of equivalent rotation vector is used as the observed value, and the drift of inertial sensors and the error of attitude angles are used as state vector. The geomagnetic field strength needn＇t be known in solution. The effectiveness of this algorithm is demonstrated by simulation, and the high accuracy attitude measurement can be achieved by the composition of magnetic sensors and inertial sensors.

关 键 词：旋转弹体 微惯性传感器 磁传感器 KALMAN滤波器 姿态确定 

分 类 号：U666.1[交通运输工程—船舶及航道工程]