MEMS航向传感器在小型无人机上的补偿算法  

Compensation Algorithm of MEMS Heading Sensor on Small UAV

作　　者：王薇[1] 孙林峰[1] 李丽锦[1] WANG Wei;SUN Lin-feng;LI Li-jin(No.365 Research Institute,Northwestern Polytechnical University,Xi＇an 710065,China)

机构地区：[1]西北工业大学第365研究所,陕西西安710065

出　　处：《测控技术》2018年第11期86-89,102,共5页Measurement & Control Technology

摘　　要：根据航向传感器在无人机上的安装位置,介绍了两种航向补偿算法,即航向传感器水平安装时改进的霍尼韦尔补偿算法和航向传感器非水平安装时改进的椭球拟合补偿算法。根据这两种算法,进行了无人机的地面静止补偿实验和飞行试验。通过输出的航向传感器数据与高精度惯导数据进行对比,验证了不同安装位置采用的不同的补偿算法都可实现航向的高精度补偿。According to installation position of the heading sensor on the UAV, two kinds of heading compensa- tion algorithms are introduced, namely the improved Honeywell compensation algorithm for the horizontal instal- lation of the heading sensor and the improved ellipsoid fitting compensation algorithm for the non-horizontal in- stallation of the heading sensor. According to these two compensation algorithms, the ground static compensa- tion experiment and flight experiment are progressed. By comparing the output data of heading sensor with the high precision inertial guidance data, it is validated that these two different compensation algorithms for differ- ent installation positions can also realize the high accuracy heading compensations of heading sensor.

关 键 词：改进的霍尼韦尔补偿算法 改进的椭球拟合补偿算法 航向传感器 高精度补偿 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置] V279[自动化与计算机技术—控制科学与工程]