基于双级互补滤波的姿态测量算法设计  

Design of Attitude Measurement Algorithm Based on Two-Stage Complementary Filtering

作　　者：高宁 李杰[1] 冯凯强[1] 许廷金 高诗尧 李炳臻 GAO Ning;LI Jie;FENG Kaiqiang;XU Tingjin;GAO Shiyao;LI Bingzhen(North University of China Science and Technology on Electronic Test&Measurement Laboratory,Taiyuan 030051,China)

机构地区：[1]中北大学电子测试技术重点实验室

出　　处：《传感技术学报》2019年第12期1824-1829,共6页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(51575500)

摘　　要：陀螺仪的漂移、载体的线性加速度和磁场的干扰是影响MARG传感器姿态测量精度的主要原因。针对传统姿态测量算法在磁干扰环境下由于航向角误差导致水平角测量精度降低以及载体线性加速度影响水平角精度的问题,提出了一种基于四元数的双级互补滤波姿态融合算法。该算法利用加速度计和磁力计测量数据分别对估计四元数进行补偿修正,避免了磁干扰环境下航向角误差对水平姿态测量的影响。同时引入线性加速度误差和磁干扰误差自适应补偿方案,以降低线性加速度与磁干扰的影响。为了验证算法的有效性,进行了静态与动态实验,实验结果表明该姿态测量算法能显著提高姿态测量精度和抗干扰能力。与传统的Mahony算法相比,俯仰/滚动角的测量精度完全不受磁干扰的影响,性能得到了明显的提升。The drift of the gyroscope,the linear acceleration of the vehicle and the interference of the magnetic field are the main reasons affecting the accuracy of the attitude measurement using the MARG sensor.Aiming at the problem that the traditional attitude measurement algorithm reduces the accuracy of horizontal angle measurement in the magnetic distortion environment and the linear acceleration affects the horizontal angle accuracy,a two-stage complementary filtering attitude fusion algorithm based on quaternion was designed.The algorithm uses the accelerometer and magnetometer measurement data to compensate the estimated quaternion separately,which avoids the influence of the heading angle error on the horizontal attitude measurement under the magnetic interference environment.Meanwhile,linear acceleration error and magnetic interference error adaptive compensation scheme are introduced to reduce the influence of linear acceleration and magnetic interference.In order to verify the effectiveness of the algorithm,static and dynamic experiments are carried out.The experimental results show that the attitude measurement algorithm can significantly improve the attitude measurement accuracy and anti-interference ability.Compared with the traditional Mahony algorithm,the measurement accuracy of the pitch/roll angle is completely immune to magnetic disturbances,and the performance is significantly improved.

关 键 词：姿态测量 MARG 四元数 磁干扰 互补滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]