摘要
针对角速率陀螺误差随时间积累和磁罗盘易受外界干扰的问题,为了提高运动体方位测量的精度,设计了角速率陀螺和磁罗盘方位信息融合方案。分析了磁罗盘和角速率陀螺的误差特性,进行了误差建模,构建了卡尔曼滤波模型,提出一种能够检测磁罗盘低频干扰,并对干扰误差进行剔除的前置检测环节(PDL)。通过仿真实验可知,该算法不仅能够有效地抑制磁罗盘高频干扰和角速率陀螺的积累误差,同时也可很好地抑制磁罗盘的低频干扰误差,可以给运动体提供较高的方位信息。
Aimed at the problem of the accumulation of errors produced by gyroscope and the interference of magnetic compass, in order to enhance the accuracy of bearing measurement for moving body, a direction information scheme integrated gyroscope with magnetic compass was designed. Kalman filter model has been set up to analyze error characteristics of gyroscope and magnetic compass. A Preposed Detection Link （PDL） is proposed to detect low-frequency interference of magnetic compass and to eliminate interference error. Simulation result shows that this algorithm not only restrain high-frequency interference and the accumulation errors of gyro, but also restrain low-frequency interference error. It can provide high precision direction information for moving body.
出处
《传感器与微系统》
CSCD
北大核心
2010年第2期59-62,共4页
Transducer and Microsystem Technologies
基金
国家"863"计划资助项目(2006AA12A108)
