基于加速度计的载体姿态测量模型设计与实现

Design and Realization of Accelerometers-based Carrier Attitude Determination Model

提出了一种基于加速度计的载体姿态测量模型。使用3个加速度构建载体坐标系,加速度计通过敏感重力加速度,确定重力矢量与载体坐标系之间的关系,进而确定当地水平坐标系与载体坐标系之间的夹角,从而计算测量载体姿态。模型在水平转台上进行了试验验证,试验结果表明,方案可行,且姿态测量精度达到了0.08°。

This paper presents one kind of accelerometers based carrier attitude determination model. Three accelerometers are used to establish the carrier coordinate frame,then the gravity vector canbe expressed with the output of three accelerometers in carrier coordinate frame,and the angle between carrier coordinate frame and geographical coordinate frame is calculated, so the carrier attitude is determined. The model is verified via the experiment,and the experiment results show that the model is feasible and the attitude determination precision is better than 0.08°.