离散时间姿态互补滤波器及其参数整定研究  

Research on Discrete-Time Complementary Attitude Filter and Its Parameter Tuning

作　　者：李翔[1] 王涛[1] LI Xiang;WANG Tao(School of Electronic Engineering and Automation,Guilin University of Electronic Technology,Guilin Guangxi 541004,China)

机构地区：[1]桂林电子科技大学电子工程与自动化学院,广西桂林541004

出　　处：《传感技术学报》2023年第10期1563-1568,共6页Chinese Journal of Sensors and Actuators

基　　金：国家自然科学基金项目(41761087,61603107);广西高校中青年教师科研基础能力提升项目(2019KY0224)。

摘　　要：基于微机电系统(MEMS)的加速度计和陀螺仪广泛用于姿态测量。加速度计和陀螺仪间的数据融合通常采用互补滤波(CF)实现。CF具有计算复杂度低的优势,但CF一般仅通过试凑进行参数整定。为使CF的参数选取与传感器噪声特性相吻合,提出一种用于姿态估计的离散时间互补滤波器(DTCF)并推导了其参数整定方法。仿真表明所提出的DTCF及其参数整定方法是可行的。用于无人机姿态估计时,所提出的DTCF能达到与目前常用的Mahony型CF相同的姿态精度,但DTCF在单片机上所需的运行时间仅为Mahony型CF的50%左右,可提高姿态估计的实时性。Accelerometers and gyroscopes based on micro-electro-mechanical system(MEMS)are widely used for attitude measurement.Complementary filter(CF)is a common solution for data fusion between accelerometer and gyroscope.CF has the advantage of low computational complexity,but its parameters are usually tuned by repeated trials only.To ensure that the selected parameters of CF are well consistent with the sensor noise characteristics,a discrete-time complementary filter(DTCF)for attitude estimation is proposed,and its parameter tuning method is also derived.The feasibility of the proposed DTCF and its parameter tuning method is proven by simulation.When applied to an unmanned aerial vehicle for its attitude estimation,the proposed DTCF can achieve the same attitude accuracy of the commonly used Mahony’s CF.Moreover,DTCF needs only about 50%of the execution time of Mahony’s CF on a microcontroller,and thus it can enhance the timeliness of attitude estimation.

关 键 词：姿态测量 数据融合 互补滤波 加速度计 陀螺仪 

分 类 号：TP212[自动化与计算机技术—检测技术与自动化装置]