基于MPU-6050运动传感器的惯性导航定位系统  

Inertial Navigation and Positioning System Based on MPU-6050 Motion Sensor

作　　者：王嘉骏[1] 杨录[1] 张元军 

机构地区：[1]中北大学信息与通信工程学院电子测试技术国家重点实验室,太原030051 [2]北京恒信陆峰科技发展有限公司,北京100089

出　　处：《科学技术与工程》2017年第18期253-257,共5页Science Technology and Engineering

摘　　要：针对超声无损检测过程中需要实时跟踪超声探头的运动轨迹,进而定位已检测到的伤痕位置,提出基于运动传感器的自主定位方法。通过加速度传感器和陀螺仪实时采集线加速度和角加速度数据,经卡尔曼滤波器处理,再利用姿态矩阵消除重力加速度的偏移分量的影响后推算目标物体的运动轨迹。经实验检测,该方法自主性强、短时精度高,完全符合检测系统对位置信息的需求。In the process of ultrasonic nondestructive testing, the movement track of the ultrasonic probe is needed to be tracked in real time, and the location of the wound is detected, and the independent positioning method based on motion sensor is proposed.The acceleration sensor and the gyro collect the data of acceleration and angular acceleration in real time,and the attitude matrix was used to eliminate the influence of the migration of gravity acceleration component after the filtering processing by Kalman filter.By experimental test, the method autonomy is strong, short-term high accuracy, completely accords with the demand of testing system for location information.

关 键 词：运动传感器 自主定位 卡尔曼滤波器 姿态矩阵 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]