基于MEMS传感器的姿态测量系统设计  

Design of Attitude Measurement System Based on MEMS Sensors

作　　者：张鑫[1] 来智勇[1] 张志毅[1] 翟贝贝[1] 

机构地区：[1]西北农林科技大学信息工程学院,陕西杨凌712100

出　　处：《计算机测量与控制》2015年第2期362-364,共3页Computer Measurement &Control

基　　金：陕西省农业科技创新项目(2012NKC01-20)

摘　　要：为解决单目三维扫描装置摄像机标定完成后姿态不能改变的问题,针对单目三维扫描装置使用过程中的运动方式与特点,设计了一款基于MEMS传感器的姿态测量系统;采用四元数对姿态进行解算,通过三轴姿态确定(TRAID)算法构建量测模型,以无迹卡尔曼滤波(UKF)算法进行数据融合,能有效抑制姿态解算过程中陀螺仪的漂移问题;实验结果表明,利用该系统进行姿态测量时静态误差低于±0.2°,动态误差低于±1°,系统实时性好、适用于动态三维扫描系统。In our study,an MEMS sensors attitude measurement system was designed to solve the problem that the attitude of Monocular 3D scanning camera cannot be changed after calibration.This system is targeted to the motion mode and features of the monocular 3D scanning device.To suppress the gyroscope drift in attitude solution process efficiently,the attitude of our system is calculated by quaterni ons.The three-axis attitude determine （TRAID） algorithm is used to build the observation model.The unscented Kalman filter （UKF） algorithm is used for data fusion.The experimental results show that the margin of static error is under ±0.2°,and the margin of dynamic error under ± 1°using our system.It demonstrated the capability of our system for high precision,real-time performance,user-friendly,and suitable for the 3D scanning system.

关 键 词：三维扫描装置 姿态测量 三轴姿态确定 无迹卡尔曼滤波 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]