摘要
为了准确采集稳定平台动态情况下姿态变化的信息,设计了一种新型的多传感器稳定平台的结构和硬件控制系统,六个加速度计和三个陀螺仪分别沿三个回转轴对称安置。在动、静态两种情况下,用不同的数学模型对加速度计和陀螺仪输出的信息进行解算。在动态情况下,对陀螺仪输出的信息和解算后的加速度信息进行Kalman滤波。经实验验证,能够提高稳定平台系统的精度。
In order to accurately capture the stable platform attitude changing information in a dynamic situation.A new kind of multisensor stable platform structure and hardware control system are designed;six accelerometers and three gyroscopes are arranged symmetrically on the axis of rotation.Under the dynamic and static situation,different mathematical models are used to resolve accelerometers and gyroscopes output information.Primarily under dynamic situations,the gyroscope output information and acceleration information are obtained for the kalman filter.According to the measured data,and by matlab simulation,the program can improve the accuracy of stability platform.
出处
《北京信息科技大学学报（自然科学版）》
2010年第2期79-83,共5页
Journal of Beijing Information Science and Technology University
