晃动平台姿态信息的提取与跟踪

Extraction and Track for Attitude Information of Swaying Platform

定向平台的晃动是影响定向精度的重要因素之一,文中讨论利用电子罗盘,获取晃动平台的航向、俯仰、翻滚等姿态信息,采用卡尔曼滤波算法跟踪平台的晃动趋势,对定向参数加以校正并变换到给定的坐标系,消除由于定向平台的晃动引起的定向误差。系统采用微功耗单片机实现与电子罗盘的数据通讯和卡尔曼滤波算法,实际测试表明,该方法可有效地消除晃动的影响,提高平台的定向精度。

Swaying of platform is one of the most important effects on bearing estimation precision. How to get the course, pitch and roll information of bearing estimation platform by utilizing electronic compass is discussed： Swaying trend of platform is tracked by adopting Kalman filtering algorithm, and bearing estimation parameters are corrected and converted into the assigned coordinate system in order to eliminate bearing estimation error caused by swaying of the platform. Low power consumption microcontroller is employed to realize the Kalman filtering algorithm and communicate with electronic compass in this system. Field test shows that our method is effective to eliminate swaying influence and improve the bearing estimation precision.