磁强计和微机械陀螺／加速度计组合定姿的扩展卡尔曼滤波器设计

The design of an extended Kalman filter for magnetometer and MEMS gyroscope/accelerometer integrated attitude determination

微机械陀螺近年来获得广泛应用,但是由于其性能较低,并不能提供长时间的稳定的姿态,必须和其它传感器组合使用。提出了一种基于磁强计和微机械陀螺／加速度计组合姿态确定的四元数卡尔曼滤波算法,该算法利用加速度计的输出判断是否使用卡尔曼滤波器计算姿态,并在卡尔曼滤波器中利用加速度计和磁强计计算的姿态角补偿陀螺的漂移。仿真和实验结果表明了该算法的有效性。

MEMS （Micro Zlectromechanical System） gyroscope is used widely in many applications, but it can＇t provide a steady attitude alone for a long time and must be integrated with other sensors. A quaternion based extended Kalman filtering algorithm for magnetometer and MEMS gyroscope/accelerometer integrated attitude determination is presented. This algorithm judges whether or not use the Kalman filter to calculate attitude according to the output of accelerometer and compensates the drift of gyroscope in the Kalman filter using the attitude computed from the magnetometer and accelerometer data. The effectiveness of this algorithm is demonstrated by experiment and simulation.