基于Mahony与改进Kalman融合的姿态解算方法  

Attitude solution method based on Mahony and improved Kalman fusion

作　　者：刘春[1] 何敏 戴雷[1] Liu Chun;He Min;Dai Lei(School of Electrical and Automation Engineering,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,合肥230009

出　　处：《电子测量与仪器学报》2022年第9期64-71,共8页Journal of Electronic Measurement and Instrumentation

基　　金：合肥市北斗卫星导航重大应用示范项目资助。

摘　　要：获得精确的载体姿态信息是提高载体导航定位的关键。针对加速运动会产生非重力加速度干扰,而传统滤波算法无法解决其导致的精度下降的问题,提出一种基于Mahony和改进Kalman融合的姿态解算方法。首先采用惯性测量传感器所得数据进行Mahony解算,将其结果作为改进Kalman的量测信息;其次通过陀螺仪解算,将其结果作为改进Kalman的状态信息实现姿态解算。实验结果表明,本文所提出的方法相较于传统方法,解算精度提高一个数量级以上,能有效地抑制漂移误差高频噪声,大幅提升了载体姿态角解算精度,且具有良好的收敛性。Obtaining accurate carrier attitude information is the key to improve carrier navigation and positioning. In view of the non-gravity acceleration interference caused by accelerated motion, which cannot be solved by the traditional filtering algorithm, a posture solution method based on Mahony and improved Kalman fusion is proposed. Firstly, the data obtained by inertial measurement unit is used for Mahony solution, and the result is used as the measurement information of improved Kalman. Secondly, through the gyroscope solution, the result is used as the state information of the improved Kalman to realize the attitude solution. The experimental results show that compared with the traditional method, the solution accuracy of the method proposed in this paper is improved by more than an order of magnitude, which can effectively suppress the high-frequency noise of drift error, greatly improve the solution accuracy of carrier attitude angle, and has good convergence.

关 键 词：姿态角解算 卡尔曼滤波 Mahony滤波器 数据融合 自适应sage窗口 

分 类 号：P228.1[天文地球—大地测量学与测量工程] TN911.72[天文地球—测绘科学与技术]