基于改进EKF的柔性绳索自动升降装置姿态估计  

Attitude Estimation of Flexible Rope Automatic Lifting Device Based on Improved EKF

作　　者：张富春[1] 郑武略 汪豪 吴阳阳[1] 丁红涛 崔家山 ZHANG Fuchun;ZHENG Wulue;WANG Hao;WU Yangyang;DING Hongtao;CUI Jiashan(CSG EHV Power Transmission Company Guangzhou Bureau, Guangzhou 510405, China;School of Aerospace Science and Technology Xidian University, Xi’an 710126, China)

机构地区：[1]中国南方电网超高压输电公司广州局,广州510405 [2]西安电子科技大学空间科学与技术学院,西安710126

出　　处：《兵器装备工程学报》2020年第11期230-236,共7页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61603034);中国博士后科学基金项目(2019M653870XB);中国南方电网超高压输电公司广州局科技项目(CGYKJXM20170151)。

摘　　要：提出了一种柔性绳索自动升降装置姿态估计算法,使用姿态四元数表示柔性绳索自动升降装置的姿态,使用扩展卡尔曼滤波器融合磁传感器、角速率传感器和重力传感器的优点,保证了姿态估计的精度,避免了估计误差导致的自动升降装置侧翻等安全性问题。首先,选择陀螺仪的姿态四元数和漂移偏差来构建状态向量,并基于陀螺仪的运动学模型建立状态方程。其次,利用正交化方法从加速度计和磁力计的输出中获得单位姿态四元数,使磁场矢量垂直于测得的重力矢量,避免地磁干扰,用于EKF的测量。接着,使用EKF更新方程确定柔性绳索自动升降装置的姿态。最后,通过静态实验和动态实验证明了所提方法的有效性,静态偏差控制在0.2°之内,在保持平滑的前提下收敛速度也快于传统EKF算法。An attitude estimation algorithm for flexible rope automatic lifting device was proposed.The algorithm used the attitude quaternion to represent the attitude of the flexible rope automatic lifting device,and used the extended Kalman filter(EKF)to fuse sensors data.A state equation was established based on the kinematic model of the gyroscope and the attitude vector quaternion of the gyroscope.The orthogonal attitude method was used to obtain the unit attitude quaternion from the output of the accelerometer and magnetometer.The EKF update equation was used to determine the attitude of the flexible rope automatic lifting device.The effectiveness of the proposed method was verified by static experiments and dynamic experiments.The static deviation is smaller than 0.2°,and the convergence speed is faster than the traditional EKF algorithm while maintaining smoothness.

关 键 词：柔性绳索 自动升降装置 扩展卡尔曼滤波 四元数 姿态估计 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]