基于PID+Kalman的姿态角算法研究

Attitude Angle Algorithm Research Based on PID + Kalman

针对车辆定位的应用场合中,低成本的惯性导航系统(INS)精度不足,以及姿态角解算中姿态角误差随时间推移而不断增长的问题,提出了一种基于PID+kalman的算法,对陀螺仪、加速度计信号和姿态角误差进行PID+kalman的融合修正,实现了姿态角的短时间高精度测量和长时间稳定输出。在以DSP和MPU为核心的信号处理系统上实时实现了检测,并进行了实验。实验结果验证了方法的有效性。

Aiming at the problem of low accuracy of inertial navigation system （ INS） in the application of vehicle positio-ning, and the problem that the attitude angle error of attitude angle is increasing with time, an algorithm based on PID ＋ Kalmanwas proposed. In this method, PID ＋ Kalman fusion correction was applied to the gyroscope, accelerometer signal and attitudeangle error, and the short-time high precision measurement of attitude angle and long-time stable output were realized. This de-tecting was realized real time in a signal processing system with DSP and MPU. Experimental results verify the effectiveness ofthe algorithm.