基于单个IMU的光电升降桅杆姿态测量方法

Attitude measurement of optic-electronic lifting mast based on single IMU

为解决光电桅杆在升降过程中的姿态解算问题,提出了一种全新的光电桅杆工作姿态测量方法。采用1个IMU实时测量光电桅杆升降过程中顶端工作部的点姿态(俯仰角ф,滚转角γ和方位角ψ),利用桅杆工作部起始点姿态与升降过程中工作点部姿态间的转换矩阵,实时解算出光电桅杆的工作姿态(扭曲角θ,倾斜角α,和偏向角β)。理论上推导了姿态解算方程,构建了光电升降桅杆动态姿态解算模型。利用姿态传感器MPU6050搭建了姿态测量系统,验证了桅杆姿态解算模型。实验结果表明:在|θ,γ,ψ|<90°时,此方法可以准确的测量出光电桅杆的工作姿态。

To solve the problem of the attitude algorithm in the lifting process of optic-electronic mast,a new attitude measurement method of optic-electronic mast was proposed. The top point attitude（ pitch angle θ,roll angle γ,azimuth angle ψ） in the process of optic-electronic mast lifting was measured in real-time through single IMU. Using transformation matrix of mast attitude between the original position and the lifting position,working attitude of optic-electronic mast（ twist angle ,inclination angle α,direction angle β） was calculated in real-time. The attitude equation was theoretically derived and the models of dynamic attitude were built. Attitude measuring system was set up by using the attitude sensor MPU6050,and the models of mast attitude were verified. Experimental results show that the work attitude of optic-electronic mast can be measured accurately when ｜ θ,γ,ψ ｜ 90°.