摘要
设计了基于微电子机械系统(Microelectro mechanical system,MEMS)惯性传感器集成模块ADIS16355的姿态测量系统。该姿态测量系统采用ADIS16355作为惯性测量单元,利用加速度计对重力向量的观测来修正陀螺给出的姿态信息,卡尔曼滤波实现传感器信息融合以计算运动载体的姿态角。介绍了ADIS16355的基本功能模块,阐述了两种传感器融合测量实时姿态角的方法并给出了卡尔曼滤波算法迭代过程。基于ARMv7架构的Cotex-M3微处理器设计了姿态测量系统硬件。采用AHRS500GA对该姿态测量系统性能进行了测量姿态角的验证实验。测试结果表明,该姿态测量系统能在动态条件下准确地测定运动物体实时姿态角,其误差一般在±1°左右。
An efficient design for attitude measurement system is presented. The system has main features as follows： monitoring the attitude angles by fusing one tri-axial accelerometer and one tri-axial gyroscope integrated in ADIS1635S （MEMS inertial sensor module）, collecting information and calculating attitude angles by using ARM7v7 processor Cotex-M3. The compensation of the whole attitude measurement system are presented, as well as the function of ADIS16355 and their installation on the object. Then, one Kalman filter is designed as a sensor data fusion method for measuring real-time attitude angles. Finally, based on the com- parisons between fused data and reference data from an AHRS5OOGA instrument, experimental resultsshow that the proposed fusion method gives quite accurate attitude information of the controlled object and the average error of attitude measurement is ±1°.
出处
《数据采集与处理》
CSCD
北大核心
2012年第4期501-507,共7页
Journal of Data Acquisition and Processing
基金
国家高技术研究发展计划("八六三"计划)(2006AA10A304)资助项目
国家高技术研究发展计划("八六三"计划)专题(2006AA10Z255)资助项目
精准农业智能关键装备技术引进与创新(2011-G32)资助项目
