基于陀螺仪及加速度计信号融合的姿态角度测量

Angle Measurement Based on Gyroscope and Accelerometer Signal Fusion

针对在四旋翼飞行器姿态控制中传感器数据存在噪声干扰和测量误差,以致单独使用陀螺仪与加速度计不能得到最优姿态角度的问题,建立陀螺仪和加速度计误差的数学模型,采用卡尔曼滤波方法,实现数据融合,有效地提高了姿态检测系统的检测精度.该方法被成功应用于四旋翼飞行器的飞行姿态角度控制中,验证了其良好的噪声抑制能力,提高了系统对环境变化的适应性.

For the problem that the quadrocopter control using gyroscopes and accelerometers only exist noise interference and measurement error,and can not get the optimal attitude angle.To solve this problem,mathematical model of the gyro and accelerometer error is built and the collected data is fusioned using the kalman filter method.This can effectively enhance the precision of the attitude estimation system.The method is applied in microprocessor,in this way the authors tested the attitude angle of the quadrocopter.Results show that system noise is well reduced using this method and it has good environmental adaptability,which proves the applicability of the method.