基于卡尔曼滤波器的姿态角测量系统设计

Attitude measure system based on KF

针对动态环境下载体的姿态测量,以无人机的航姿测量系统小型化为背景,给出了一种采用MEMS惯性器件构成的姿态角测量系统。系统采用新型32位ARM Cortex-M3内核微控制器STM32F103ZET6作为控制处理单元,传感器采用ADXL345加速度计、L3G4200D陀螺仪和HMC5883磁阻传感器。对于MEMS器件精度低,数据易发散的问题,采用卡尔曼滤波器实时将加速度计、陀螺仪和磁强计的数据进行融合,计算负担小,实时性好。实验结果表明,该姿态测量系统在静态和动态环境下都能够较好的完成载体姿态测量的任务。

To obtain attitude in dynamic state,an MEMS sensors based attitude measure system using KF is proposed. The system which takes the 32 bits microcontroller as processor, calculates and gets the attitude information through measuring the acceleration of gravity, the rotation of platform and the geomagnetic horizontal intensity of the earth on each axis with MEMS accelerometer, MEMS gyro and MEMS magnetic sensor. To overcome shortcomings such as low precision and easy divergence, a KF filter is designed, by which the information from accelerometers, magnetometers and gyroscopes is fused. The results of tests indicate that the accumulated errors are eliminated in static state and the or~,r~ in dynamic state are eom~ ＋~.~