摘要
A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.
A novel on-line north-seeking method based on a three-axis micro-electro-mechanical system(MEMS)gyroscope is designed.This system processes data by using a Kalman filter to calibrate the installation error of the three-axis MEMS gyroscope in complex environment.The attitude angle updating for quaternion,based on which the attitude instrument will be rotated in real-time and the true north will be found.Our experimental platform constitutes the dual-axis electric rotary table and the attitude instrument,which is developed independently by our scientific research team.The experimental results show that the accuracy of north-seeking is higher than 1°,while the maximum root mean square error and the maximum mean absolute error are 0.906 7 and 0.910 0,respectively.The accuracy of north-seeking is much higher than the traditional method.
基金
Supported by the Chongqing International Science and Technology Cooperation Base Project(cstc2014gjhz40001)
the University Achievement Transformation Project of Chongqing Science and Technology Commission(KJZH17115)
the Basic Research Project of Chongqing Science and Technology Commission(cstc2015jcyjBX0068,cstc2014jcyjA1350,cstc2015jcyjB0360)
the Dr.Start-up Fund of Chongqing University of Posts and Telecommunications(A2015-40,A2016-76)
the National Natural Science Foundation of Chongqing University of Posts and Telecommunications(A2015-49)
the Scientific and Technological Research Program of Chongqing Municipal Education Commission(KJ1704104,KJ1704091)
