基于卡尔曼滤波的MIMU姿态解算算法研究  

Investigation of MIMU Attitude Algorithm Based on Kalman Filter

作　　者：张静[1] 李维刚 张骏虎 聂鹏 张传庄 Zhang Jing;Li Weigang;Zhang Junhu;Nie Peng;Zhang Chuanzhuang(Software College,North University of China,Taiyuan 030051,China;Shanxi Jianghuai Heavy Industry Co.,Ltd.,Jincheng 048026,China)

机构地区：[1]中北大学软件学院,太原030051 [2]山西江淮重工有限责任公司,山西晋城048026

出　　处：《计算机测量与控制》2020年第12期233-237,242,共6页Computer Measurement &Control

基　　金：兵器工业联合基金(6141B01297)。

摘　　要：针对MEMS惯性测量单元器件特性导致的测量精度低、数据发散和航向角积分漂移等问题,提出一种基于卡尔曼滤波的四元数姿态解算算法;设计的卡尔曼滤波器,以陀螺仪获取到的姿态角与角速度计和磁力计获得的姿态角的偏差为观测量,对姿态误差角进行优化估计,得到姿态误差角的最优估计值;在计算量没有大幅提高的前提下对陀螺仪得到的姿态角进行优化校正,从而得到较高精度的姿态角信息;通过在无磁转台上进行静态测试以及在测试标定系统上进行动态测试,分析各轴向的补偿效果表明,该方法可以有效增强MIMU的动态跟随性能、明显提升姿态解算精度。Aiming at the problems of low measurement accuracy,data divergence and heading angle integral drift caused by the characteristics of MEMS inertial measurement unit devices,a quaternion attitude solution algorithm based on Kalman filtering is proposed.A Kalman filter is designed,which takes the deviation as the observation,between the attitude angle obtained by the gyroscope and the attitude angle obtained by the angular velocity meter and the magnetometer.Optimal estimation of attitude error angle,we can get the best estimate of the attitude error angle.The attitude angle is optimized and corrected,so as to obtain higher precision attitude angle information.Through static testing on a non-magnetic turntable and dynamic testing on a test calibration system,analysis of the compensation effect in each axis shows that this method can effectively enhance the dynamic following performance of MIMU and significantly improve the accuracy of attitude calculation.

关 键 词：四元数 卡尔曼滤波 姿态解算 MEMS惯性测量单元 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]