基于共轭梯度的MARG传感器姿态解算方法  

Conjugate Gradient Based Method for Attitude Calculation of MARG Sensor

作　　者：戚文昊 刘宁[1,2] 苏中[1,2] 乔利康[1,2] 王靖骁 QI Wenhao;LIU Ning;SU Zhong;QIAO Likang;WANG Jingxiao(Beijing Key Laboratory of High Dynamic Navigation Technology Beijing Information Science and Technology University,Beijing 100000 China;Key Laboratory of Modern Measurement and Control Technology Ministry of Education,Beijing 100000 China)

机构地区：[1]北京信息科技大学高动态导航技术北京市重点实验室,北京100000 [2]现代测控技术教育部重点实验室,北京100000

出　　处：《电光与控制》2022年第8期13-16,22,共5页Electronics Optics & Control

基　　金：国家自然科学基金(61801032);北京市自然科学基金(4212003)。

摘　　要：针对基于惯性测量单元(IMU)的姿态解算算法噪声大、精度低且无法准确解算偏航方向上姿态角变化的问题,提出一种基于共轭梯度算法的MARG传感器系统姿态解算方法。使用加速度计和磁强计测量姿态误差,通过共轭梯度算法对陀螺仪姿态四元数进行补偿和修正,对数据加权融合求解得到飞行器姿态四元数。利用三轴转台对算法稳定性和准确性进行验证,结果表明,该算法能够有效抑制测量噪声,提高姿态角解算的精度。Aiming at the problem that the attitude calculation algorithm based on the Inertial Measurement Unit(IMU)is noisy has low accuracy and cannot accurately calculate the attitude angle variation in the yaw direction a MARG sensor system attitude calculation method based on the conjugate gradient algorithm is proposed.The accelerometer and magnetometer are used to measure the attitude error the conjugate gradient algorithm is used to compensate for and correct the gyroscope attitude quaternion and the data is weighted and fused to obtain the aircraft attitude quaternion.A three-axis turntable is used to verify the stability and accuracy of the algorithm.The results show that the algorithm can effectively suppress measurement noise and improve the accuracy of attitude angle calculation.

关 键 词：姿态解算 MARG 共轭梯度 四元数 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]