基于姿态信息融合算法的创新实践平台精度优化研究  

Research on precision optimization of innovative practice platform based on attitude information fusion algorithm

作　　者：蔚燕舞[1] 雷军莉[1] YU Yanwu;LEI Junli(Xi’an Siyuan College,Xi’an 710038,China)

机构地区：[1]西安思源学院,西安710038

出　　处：《自动化与仪器仪表》2024年第12期252-256,共5页Automation & Instrumentation

基　　金：2023年教育部第一批协同育人项目《民办高校创新创业教育课程思政范式转型与实践》(230804643281141);2022年校级重点科研项目《乡村振兴战略背景下陕西高校服务乡村创业人才建设的路径研究》(XASYZD-A2206)。

摘　　要：为进一步提升高校创新创业实践平台的建设水平,针对自动化类专业的创新创业实践平台,提升智能化设备的运行效果,提出一种基于Mahony互补滤波和扩展卡尔曼滤波的姿态融合算法。首先,在姿态传感器的姿态解算过程中引入Mahony互补滤波法以优化加速度计所产生的误差,然后在此基础上再增加扩展卡尔曼滤波法对陀螺仪对应误差进行优化,进而提升姿态解算过程精度。仿真测试表明,引入Mahony互补滤波和扩展卡尔曼滤波法后,可进一步提升姿态传感器角度信息的获取精度及稳定性,创新实践平台在进行测量时能够获取到精度较高的角度信息。综上,在姿态传感器中引入所构建的姿态融合算法能够有效提升传感器的测量精度,因此,可将其应用于实际的创新实践平台中,提升智能化设备的测量精度,进一步完善创新创业平台的建设,具有一定的可行性。In order to further improve the construction level of innovation and entrepreneurship practice platform in colleges and universities,a posture fusion algorithm based on Mahony complementary filtering and extension of Kalman filtering is proposed.First,the Mahony complementary filter method is introduced in the attitude solution process of the attitude sensor to optimize the error caused by the accelerometer,and then the extended Kalman filter method is added to optimize the corresponding error of the gyroscope,so as to improve the accuracy of the attitude solution process.Simulation test shows that the introduction of Mahony complementary filter and extended Kalman filter method can further improve the acquisition accuracy and stability of attitude sensor Angle information,and the innovative practice platform can obtain high accurate Angle information during measurement.To sum up,the introduction of the attitude fusion algorithm into the attitude sensor can effectively improve the measurement accuracy of the sensor,so it can be feasible to be applied to the actual innovation practice platform,improve the measurement accuracy of intelligent equipment,and further improve the construction of the innovation and entrepreneurship platform.

关 键 词：创新实践平台 姿态传感器 信息融合 姿态解算 

分 类 号：TE243[石油与天然气工程—油气井工程] TP39[自动化与计算机技术—计算机应用技术]