MEMS惯性传感器融合的水平姿态解算方法  

Design of Horizontal Attitude Estimation Using MEMS Inertial Sensor

作　　者：黎永键[1] 赵祚喜[2] 高俊文[1] 

机构地区：[1]广东农工商职业技术学院机电系,广东广州510507 [2]华南农业大学工程学院,广东广州510642

出　　处：《南京师范大学学报（工程技术版）》2015年第2期20-26,共7页Journal of Nanjing Normal University(Engineering and Technology Edition)

基　　金：精准农业智能关键装备技术引进与创新(2011-G32);国家自然科学基金(61175081);华南农业大学博士点基金(20114404110003)

摘　　要：为获取惯性导航系统的姿态信息,针对MEMS惯性测量单元,设计了基于多传感器信息融合的水平姿态解算方案.在此基础上,提出了一种基于卡尔曼滤波的解决方案:利用陀螺仪测得的角速度更新前一步的姿态角,利用加速度计对重力矢量的观测修正陀螺仪给出的姿态角信息.设计了水平姿态解算试验平台以验证该算法,采用姿态航向参考系统AHRS500GA提供精确姿态角对解算结果进行对照,试验结果表明:在静态、动态条件下该算法均能准确地得到实时水平姿态角,其误差一般小于1°.In order to get effective attitude information for inertial navigation,this paper presents a scheme for horizontal attitude estimation based on MEMS inertial sensor fusion. On this basis,a horizontal attitude measurement system is designed,among which their main features are： monitoring attitude information by fusing one tri-axial accelerometer and one gyroscope integrated in ADIS16300; calculating attitude angles by using ARM7v7 processor Cotex-M3. A practical algorithm based on Kalman filter is then designed whose system equation is derived from MEMS gyros outputs and measurement constructed by accelerometers outputs. Finally,experimental results show that the proposed fusion method gives quite accurate attitude information of the controlled object and the average error of attitude measurement is less than 1°.

关 键 词：MEMS惯性传感器 信息融合 卡尔曼滤波 姿态角 姿态航向参考系统 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置]