一种角度融合算法在姿态角解算中的应用  

Application of an Angle Fusion Algorithm in Attitude Angle Solution

作　　者：张振涛[1] 王娟 ZHANG Zhentao;WANG Juan(School of Information and Control Engineering,Jilin Institute of Chemical Technology,Jilin City 132022,China;School of Electrical and Information Technology,Jilin Vocational College of Industry and Technology,Jilin City 132013,China)

机构地区：[1]吉林化工学院信息与控制工程学院,吉林吉林132022 [2]吉林工业职业技术学院电气与信息技术学院,吉林吉林132013

出　　处：《吉林化工学院学报》2020年第3期73-76,共4页Journal of Jilin Institute of Chemical Technology

摘　　要：利用四元数求解姿态变换矩阵,采用三轴旋转的方式复合成姿态角变换矩阵,建立在姿态测量中的标度变换从而完成该算法的软件设计,然后通过对测量传感器MPU6050的电路设计和编程实验,并且建立上位机3D模型,验证该算法可以全姿态工作,实时性较强,计算量适中,测量结果满足水准仪测量应用中的需求.Using the quaternions to solve attitude transformation matrix,using the three-axis rotation composite into the attitude angle transformation matrix,complete the software design of the algorithm based on the scale transformation in attitude measurement,through the measurement sensor MPU6050 circuit design and programming experiments,and the establishment of the upper machine 3D model,to verify that the method can work full-position,real-time,moderate calculation the measurement results meet the needs of the level measurement application.

关 键 词：姿态角 角度融合 MPU6050 四元数 

分 类 号：TP368.1[自动化与计算机技术—计算机系统结构]