互补滤波器和Kalman滤波器在姿态角测量中研究  

Attitude Measurement Based on Complementary Filter and Kalman Filter

作　　者：蒋光峰[1] 谈英姿[1] 

机构地区：[1]东南大学自动化学院,江苏南京211189

出　　处：《工业控制计算机》2017年第6期97-99,共3页Industrial Control Computer

基　　金：东南大学大学生科研训练计划项目(16082017)

摘　　要：姿态角在工程中应用极为常见,对其测量精度要求也越来越高。采用MEMS陀螺仪L3G4200和加速度计MMA7361,在分析传感器测量角度误差的基础上,研究两种陀螺仪和加速计数据融合的方法,以减少随机漂移误差,提高测量精度。提出对传感器原始数据进行预处理方法,分析互补滤波器和Kalman滤波器测量姿态角过程以及这两种方法抑制数据漂移的内在机理。实验表明,这两种算法对陀螺仪随机漂移误差都有很强的抑制作用,同时具有出色的动态性能。In this paper,MEMS gyroscope and accelerometer based on error analysis in measuring the angle sensor,study two fusion methods of gyroscope and accelerometer data, to reduce the random drift error,improve the measurement accuracy.The pretreatment method of the original data of the sensor is proposed,and the process of measuring the attitude angle by the complementary filter and the Kalman filter is analyzed,and the intrinsic mechanism of the two methods is also discussed.

关 键 词：姿态角 互补滤波器 KALMAN滤波器 随机漂移 

分 类 号：TN713[电子电信—电路与系统] TP212[自动化与计算机技术—检测技术与自动化装置]