摘要
航姿参考系统(AHRS)利用重力及地磁场矢量观测值估计载体姿态,但采用加速度计测量重力会受到载体运动加速度的干扰而造成姿态估计误差。提出一种对运动加速度进行估计和补偿的新方法,上述方法在AHRS姿态算法外部实现运动加速度的估计与补偿,因而无需改动AHRS原有滤波器结构设计,几乎不需增加存储空间及计算量。仿真及结果表明,所提出的新方法能与各种常用AHRS姿态滤波算法相配合,能有效地消除运动加速度对姿态估计精度的影响,从而有助于提升AHRS在动态环境下的性能。
Attitude and heading reference system （AHRS） estimates the carrier＇s attitude according to observations of gravity and geomagnetic vectors. But the observation of gravity vector acquired by aceelerometer is affected by carrier＇s motional acceleration, and that leads to attitude estimation error. A novel method is introduced to estimate and compensate the motional acceleration. The proposed method operates outside the attitude estimation algorithm of AHRS, and thus no modifications to the filter design or architecture of AHRS are needed, and it hardly increases storage space or computational burden. Simulation results show that the proposed method can cooperate with commonly used attitude filters,and can effectively eliminate attitude errors caused by motional acceleration. Therefore,it can enhance dynamic performance of AHRS.
出处
《计算机仿真》
北大核心
2017年第2期60-64,105,共6页
Computer Simulation
基金
国家自然科学基金地区基金项目(61361006)
广西自然科学基金青年基金项目(2015GXNSFBA139253)
广西自动检测技术与仪器重点实验室主任基金项目(YQ15107)
关键词
航姿参考系统
数据融合
滤波算法
动态加速度
Attitude and heading reference system （AHRS）
Data fusion
Filtering algorithm
Motional acceleration
