一种多时间尺度融合的视觉辅助惯性定姿算法  

A visual aided inertial attitude determination algorithm based on multi-time scale fusion

作　　者：张琳 曾成 王羿帆 ZHANG Lin;ZENG Cheng;WANG Yifan(School of Electronic and Information Engineering,Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]河北工业大学电子信息工程学院,天津300401

出　　处：《现代电子技术》2020年第12期14-17,共4页Modern Electronics Technique

基　　金：国家自然科学基金面上项目(51475136)。

摘　　要：针对基于微机电系统的惯性传感器中,陀螺仪在姿态解算过程中存在误差累积的问题,提出一种多时间尺度融合的视觉辅助惯性定姿算法。利用视觉传感器在不同时间尺度的角度变化量,不断修正并更新惯性器件的角度累积误差,对姿态角进行多次校正,进而输出较高精度的姿态角。实验结果表明,采用多时间尺度融合的视觉辅助惯性定姿算法,相对于单时间尺度的融合算法,航向角误差降低了27%,俯仰角误差降低了23%,横滚角误差降低了63%,角度误差能够保持在2°以内,满足定姿定位的需求。In allusion to the error accumulation in the attitude resolving of the gyroscope in the inertial sensor based on micro-electro mechanical system,a visual aided inertial attitude determination algorithm based on multi-time scale fusion is proposed. By means of the angle variation of the vision sensor at different time scales,the angle cumulative error of the inertial device are corrected and updated continuously,and the attitude angle is corrected for many times to output the attitude angle with higher precision. The experimental results show that,in comparison with the single-time scale fusion algorithm,the visual aided inertial attitude determination algorithm based on the multi-time scale fusion reduces the course angle error by 27%,the pitch angle error by 23%,and the roll angle error by 63%. The angle error can be able to keep within 2° to meet the needs of attitude-determination and positioning.

关 键 词：姿态解算 多时间尺度融合 惯性测量单元 数据采集 姿态角校正 角度误差更新 

分 类 号：TN820.22-34[电子电信—信息与通信工程] TP212.9[自动化与计算机技术—检测技术与自动化装置]