基于MARG传感器的头部姿态解算方法研究  

A Head Pose Algorithm Based on the MARG Sensor

作　　者：李小青 杨亚楠[1] 于鸿彬[2] 吴天山 LI Xiao-qing;YANG Ya-nan;YU Hong-bin;WU Tian-shan(School of Electronic and Information Engineering,Tianjin Polytechnic University,Tianjin 300387,China;School of Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学电子与信息工程学院,天津300387 [2]天津工业大学机械工程学院,天津300387

出　　处：《电光与控制》2019年第5期14-19,共6页Electronics Optics & Control

基　　金：国家重点研发计划(2016YFB1102003);民航科技重大专项(MHRD20140110)

摘　　要：针对头盔显示器(HMD)的头部姿态检测系统中单一传感器进行头部姿态解算准确度低、精度粗略的问题,提出了一种基于MARG传感器的头部姿态解算方法。将互补滤波与PI算法相结合估算陀螺仪的漂移误差,再通过扩展卡尔曼滤波(EKF)实现姿态数据融合。设计了由CC1310、陀螺仪、加速度计和磁强计组成的头部姿态检测单元进行测试实验。与单独的EKF对比,结果表明,这种算法对陀螺仪自身的漂移和加速度计噪声有抑制作用,提高了头部姿态解算的精度和稳定性。Since the single-sensor based head pose measuring system of the Helmet-Mounted Display(HMD) suffers from low accuracy and poor precision,a novel algorithm based on the information fusion of MARG sensor is proposed.First,the complementary filtering is combined with PI algorithm to estimate the gyroscope drift error,and then the pose data fusion is implemented by using the Extended Kalman Filter(EKF).We made experiments to compare the performance of the conventional single EKF and the proposed algorithm in filtering by using the measuring system composed of a CC1310,a gyroscope,an accelerometer and a magnetometer.The results demonstrate that the proposed algorithm can restrain the drift of the gyroscope and the noise of the accelerometer,and consequently improve the stability and precision of the head pose algorithm.

关 键 词：头盔显示器 头部姿态检测 MARG传感器 姿态解算 互补滤波 PI算法 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]