摘要
针对三轴视觉跟踪姿态角稳定精度不高的问题,采用基于四元数的卡尔曼滤波器算法把三轴陀螺、加速度计、磁极三个不相干的三维矢量进行数据融合。通过三轴实验平台进行测试,该系统的动态测量精度范围小于±2°,并且算法运行速度快、精度高、性能稳定,达到了设计要求。
In order to solve the problem of visual tracking stabilization precision of the three axis attitude angle,the data fusion of three dimensional vectors including the three axis gyroscope, accelerometer and magnetic poles is carried out using the Calman filter based on quaternion. The experiment results show that the dynamic measurement accuracy of the system is less than ±2°, and the algorithm is fast, high precision, stability, meets the design requirements.
出处
《单片机与嵌入式系统应用》
2015年第10期23-26,共4页
Microcontrollers & Embedded Systems
关键词
视觉跟踪
惯性稳定系统
四元数
卡尔曼滤波器
visual tracking
inertial stabilization system
quaternion
Calman filter
