一种抑制旋转矢量误差的方法

A method of inhibiting the rotation vector error

在依次绕轴旋转进行姿态求解过程中因刚体旋转不具有交换性,带来不可交换性误差。因此在姿态求解中,采用一次旋转变换避免不可交换性误差,改进旋转矢量法工作过程。通过分析与实验,改进旋转矢量法采用等效旋转矢量变换,误差得到有效抑制。在STM32平台上对陀螺仪、加速度计、电子罗盘进行互补滤波数据融合。采用改进旋转矢量法进行姿态解算,在100Hz解算频率下误差小于5‰。采用该算法,实现解算精度与速度的最优组合。

Sequentially rotated on its axis in turns rotation of rigid bodies with the attitude to solve with exchangeable, unpredictable commutativity error. So attitude the solution, adopt a rotation transformation one will not be exchanged error avoided, improved rotation vector algorithm works. Through analysis and experimentation, using improved rotation vector transformations errors are effectively suppressed. At STM32 platform with gyroscope, accelerometer, digital compass on the complementary filter and fusion data. Improved rotation vector attitude algorithm in 100Hz compute frequency error is less than 5‰. Using this algorithm, for precision and speed of best combination.