基于MPU-6050和UKF的姿态测量系统设计  

Design of an attitude measuring system based on MPU-6050 and UKF

作　　者：陶子涵 高国伟 徐万芝 

机构地区：[1]北京信息科技大学信息获取与检测实验室,北京100101

出　　处：《传感器世界》2017年第11期17-21,共5页Sensor World

基　　金：国家自然科学基金资助项目(NO:61571053);北京市属高校创新能力提升计划项目(NO:TJSHG201310772026)

摘　　要：运动体姿态角度测量是姿态控制的重要组成部分。以微小型无人机姿态测量为应用背景,设计了一种基于整合型6轴运动传感器模块MPU-6050的姿态测量系统,针对MPU-6050存在精度低、漂移大而使得系统测量精度下降,且微小型无人机在复杂工作环境时系统出现典型的非线性的问题,提出将无迹卡尔曼滤波算法(UKF)应用于系统的姿态估计,并使用三轴转台检验了系统对各个姿态角度的测量效果。实验验证了姿态测量系统的有效性,并与EKF姿态解算对比,验证了UKF算法的优越性。Attitude angle measurement of vehicles is an important component of attitude control. With attitude measurement of micro-UAV as application background, an attitude measuring system is designed based on integrated 6-axis motion tracking module MPU-6050. Aiming at the problems that low precision and large drift of MPU-6050 reduce the accuracy of the measuring system and micro-UAV system presents typical nonlinear in complex working environment, the unscented Kalman filter（UKF） algorithm is applied to the attitude estimation of the system. The measuring effect of the system on the attitude angles is tested by using a 3-axis turntable. The experiments verify the validity of the attitude measuring system. Compared with the EKF attitude algorithm, the superiority of UKF algorithm is verified.

关 键 词：微小型无人机 姿态估计 MPU-6050 无迹卡尔曼滤波(UKF)算法 

分 类 号：TP212.9[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]