AHRS航姿解算中的两种滤波方法的比较研究  

Comparison and Study on Complementary Filter and Kalman Filter in AHRS Attitude Calculation

作　　者：丁君[1] 赵忠华[1] 

机构地区：[1]上海交通大学电子信息与电气工程学院,上海200240

出　　处：《计算机仿真》2013年第9期60-65,共6页Computer Simulation

摘　　要：关于飞行姿态角优化问题,由于加速度计的测量值中同时包含了重力加速度和运动加速度信息,并且磁传感器易受铁磁性物质干扰,直接利用加速度计的测量值计算横滚角和俯仰角易产生较大误差,进而在利用磁传感器的测量值计算航向角时也将会引入了误差。为了减小加速度计和磁传感器的姿态解算算法所解算的姿态角误差,提出利用陀螺仪的输出,分别设计了互补滤波器和卡尔曼滤波器(Kalman Filter)对加速度计和磁传感器的输出进行处理,采用VN-100的微惯性测量单元(Micro Inertial Measurement Unit,MIMU)的数据进行MATLAB仿真,并对两种滤波器的滤波效果进行了比较。实验结果表明,互补滤波和Kalman滤波均能提高该算法的姿态角精度,并且互补滤波器比Kalman滤波器效率更高,性能更好。The accelerometer measurements contain the gravitational acceleration and linear acceleration,and the magnetic sensor can be easily disturbed by ferromagnetic substance.So it causes roll and pitch angle errors when using the accelerometer measurements to calculate,and it then directly introduces an error to the heading calculation which uses the magnetic sensor measurements.In order to reduce the error of attitude angles,which are calculated by the attitude calculation method based on the accelerometer and magnetic sensor,this paper designed a complementary filter and a Kalman filter separately to filter the outputs of accelerometer and magnetic sensor using the outputs of gyroscope,used MATLAB to do simulation with the data collected from Micro Inertial Measurement Unit（MIMU） of VN -100,and finally compared the results of the two filters.Simulation results show that both the complementary filter and the Kalman filter can improve the attitude angles accuracy,and the complementary filter is more effective than Kalman filter.

关 键 词：微惯性测量单元 姿态解算 卡尔曼滤波器 互补滤波器 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程]