摘要
针对运动体姿态角测量问题,利用惯性传感器MPU6050提出了一种参数可调的自适应显性互补滤波算法,并与经典互补滤波、显性互补滤波、基于梯度下降法的互补滤波算法及传感器数字运动处理器自带滤波算法进行了比较,分析了几种算法在工程应用中的适应性。测试结果表明,此类互补滤波算法具有思路清晰,计算量小,估算精度高及易实现等特点,改进后的算法综合性能最优,适用于各种运动姿态测量系统。
The inertial sensor MPU6050 is used for the attitude angle measurement of moving body.A complementary filtering algorithm with adjustable parameters is proposed,which is compared with the classical complementary filter,explicit complementary filter,the gradient descent algorithm and the embedded algorithm of the sensor.The adaptability analysis of several algorithms in engineering application is given in the paper.The tests show that this kind of complementary filtering algorithm is easy to be realized in embedded system,which has clear ideas,low computational load and higher accuracy.The comprehensive performance of the improved algorithm is best,so it is suitable for all kinds of sports attitude measurement system.
出处
《压电与声光》
CSCD
北大核心
2015年第5期821-825,829,共6页
Piezoelectrics & Acoustooptics
基金
航空科学基金资助项目(2011ZC52034)
