基于互补滤波的动中通天线姿态估计  

Antenna attitude estimation based on complementary filter for mobile satellite communication

作　　者：沈晓卫[1] 姚敏立[1] 赵鹏[1] 

机构地区：[1]第二炮兵工程学院,西安710025

出　　处：《中国惯性技术学报》2011年第2期194-197,共4页Journal of Chinese Inertial Technology

基　　金：军队预研项目(403050102);国家高技术研究发展项目(2010AA7010213)

摘　　要：为了满足低动态下天线稳定的要求,构建了一个基于微机械陀螺、加速度计和磁强计组合的动中通低成本姿态测量系统。该系统利用加速度计重力场分量估计的倾角和磁强计地磁场分量估计的航向角作为辅助信息,校正陀螺漂移误差。根据陀螺与辅助传感器的互补特性,设计一个多轴互补滤波器,利用陀螺的高频分量和辅助信息的低频分量估计姿态角。根据载体机动状态调整控制器参数,使滤波器能自适应选择交接频率,减小机动加速度对姿态估计的影响。实验结果表明,互补滤波能有效地估计出姿态,系统的动态估计精度在±2°内。In order to meet the requirement of antenna stabilization under low dynamic conditions,a low cost attitude measurement system is constructed based on MEMS gyroscope,accelerometer and magnetometer for mobile satellite communication.The tilt and head angle are derived from gravity vector of accelerometer and earth＇s magnetic field of magnetometer respectively,and they are taken as aiding information to correct the errors of gyroscope.According to the complementary characteristics between gyroscope and aiding sensors,a multi-axis complementary filter is designed,and the attitude is estimated by combining high frequency part of gyroscopes output with low frequency part of aiding attitude information.To make the filter more robust to maneuvering acceleration,the parameters of controller are adjusted so that the cut-off frequency of the filter can be changed adaptively based on the maneuvering situation of vehicle.Experiment results show that the complementary filter can effectively estimate the attitude,and the dynamic estimation error is within ±2°for the system.

关 键 词：动中通 姿态估计 互补滤波 机动加速度 

分 类 号：U666.1[交通运输工程—船舶及航道工程]