摘要
利用基于微机电系统陀螺、加速度计和磁强计的MTi-IMU微惯性航姿系统,设计了一种确定航向和姿态的算法。该算法利用加速度计的输出判断载体的运动状态,当载体处于非加速运动状态时,利用磁强计和加速度计的输出计算姿态角,再利用卡尔曼滤波器校正姿态误差。采集MTi-IMU微惯性航姿系统输出的数据进行仿真。仿真结果证明了该姿态算法的有效性。
This paper presents a heading and attitude algorithm based on MTi IMU, which is composed of micro-electronic mechanical system（MEMS） gyroscopes, MEMS accelerometers and magnetometers. It uses the output data of accelerometers to judge the motion state of carrier, and calculates the attitude angles using the output o{ accelerometers and magnetometers, and then cor- rects the attitude errors with Kalman filtering. The algorithm is simulated using the output of MTi-IMU, showing that the algorithm is effective.
出处
《上海电机学院学报》
2013年第4期198-202,共5页
Journal of Shanghai Dianji University
关键词
微惯性航姿系统
姿态四元数
卡尔曼滤波
micro inertial attitude
heading reference system
attitude quaternion
Kalman filtering
