基于微惯性器件的头部运动综合测量方法研究  

A Head-Moving Measurement Method Based on the MIMU

作　　者：万航雁 张求知[2] 张伊慧 张劲峰 刘世良[2] 张宝尚 陈君 WAN Hang-yan;ZHANG Qiu-zhi;ZHANG Yi-hui;ZHANG Jin-feng;LIU Shi-liang;ZHANG Bao-shang;CHEN Jun(Science and Technology on Electro-Optical Control Laboratory, Luoyang 471000, China;Luoyang Institute of Electro-Optical Equipment, AVIC, Luoyang 471000, China)

机构地区：[1]光电控制技术重点实验室,河南洛阳471000 [2]中国航空工业集团公司洛阳电光设备研究所,河南洛阳471000

出　　处：《电光与控制》2018年第4期83-86,96,共5页Electronics Optics & Control

摘　　要：针对运动平台上头部姿态测量问题,提出一种可以获得更快测量速度、更高测量精度的综合测量方法。通过卡尔曼滤波将分别由视觉测量和微惯性测量得到的头部姿态数据进行数据融合。利用视觉测量对微惯性测量进行校正,综合了视觉测量方法误差不随时间变化与微惯性测量方法测量速度快、测量范围大的优点,抑制了惯性测量随时间累积产生的无约束发散误差,克服了视觉测量方法范围受限、容易受到干扰的缺点,并经过试验分析与仿真,得到了验证。Aiming at head posture measurement on the moving platform, an integrated measurement method with faster measuring speed and higher accuracy is put forward. The head posture data obtained respectively by Vision Measurement （VM） and Inertial Measurement （IM） are fused by using the Kalman filter, and the data from the inertial pose measurement is revised by using the vision pose measurement. Therefore, the advantages of VM that the error is not changed with time, and of IM of fast measuring speed and large measuring scope are integrated ;while the disadvantage of IM of unlimited and distributed error is restrained, and the shortcomings of VM such as limited measurement range, easily being disturbed, etc., are overcome. Experimental analysis and simulation results have proved the validity of the method.

关 键 词：头盔显示器 惯性测量 数据融合 头部位姿 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]