一种面向AHRS的改进互补滤波融合算法  

Kind of improving compensation filter algorithm for AHRS

作　　者：杜杉杉[1] 吴昊[2] 张继文[3] 马武建 

机构地区：[1]航天东方红卫星有限公司,北京100094 [2]北京控制工程研究所,北京100190 [3]清华大学机械工程系,北京100084

出　　处：《国外电子测量技术》2015年第3期13-18,共6页Foreign Electronic Measurement Technology

基　　金：国家自然科学基金(5175288);国家自然科学基金(50805082)资助项目

摘　　要：针对三轴陀螺、三轴磁强计和三轴加速度计等MEMS传感器所构成的AHRS系统对全局环境下的姿态检测问题,在分析线形融合滤波器、Kalman滤波器的缺陷基础上,对互补滤波器的IMU姿态解算算法进行拓展,通过磁场计测量数据在全局坐标系下水平分量的求解,获得了传感器偏航方向的姿态角,从而构成了完整的三维空间姿态测量系统。并基于硬件实验验证算法有效消除陀螺漂移和加速度及地磁场干扰的可行性。The posture measurement problem in global environment is involved in AHRS system ,which is mainly com‐posed of MEMS sensors such as 3‐axis gyro ,3‐axis magnetic sensor and 3‐axis accelerator .It extends the algorithm of compensation filter by calculating the horizontal measurements of magnetic sensor in global environment ,in facing the defects of linear mixture algorithm and Kalman filter ,and therefore constructs the complete 3D space posture detection , when yaw angle is obtained .It was tested on hardware experiment platform ,and proves the validity of canceling the gyro drift and disturbance of accelerator and magnetic sensor .

关 键 词：航姿参考系统 互补滤波器 姿态估计 传感融合 

分 类 号：TN710[电子电信—电路与系统]