姿态测量系统中两种姿态解算方法的分析比较

Analysis and Comparison of Two Attitude Algorithms in Attitude Measurement System

针对消费电子和民用领域中姿态测量系统体积小、成本低、精度适中的特点,采用低成本、低功耗MEMS惯性传感器并结合磁性传感器设计了一款43.5mm×26.9mm的姿态测量系统。为了减小MEMS传感器的漂移误差和系统噪声,设计了两种基于四元数方法进行姿态解算的数据融合算法互补滤波法和最速下降法。实验结果表明,两种算法均能避免单独使用陀螺仪解算姿态时出现角度漂移严重的问题,有效补偿了姿态角的输出误差,静态情况下,互补滤波法姿态角标准差均优于0.09°,最速下降法姿态角标准差均优于0.07°,最速下降法能更有效地抑制系统的噪声,提高系统姿态解算的稳定性。

Using a low-cost,low-power MEMS inertial sensor and a magnetic sensor,this paper designs an attitude measurement system with a size of 43.5 mm×26.9 mm,which can satisfy the characteristics of small volume,low-cost,moderate accuracy in consumer electronics and civil field.In order to reduce the drift errors and system noise of MEMS sensors,this paper also designs two data fusion algorithms for attitude calculation based on quaternion.Experimental results show that the complementary filter and the steepest descent algorithm can avoid the problem of drifting drastically when the gyroscope solves the attitude independently,and effectively compensates the output error of the attitude angle.In the static case,the standard deviation of attitude angle is better than 0.09°and 0.07°respectively with the complementary filter and the steepest descent method.The steepest descent method can suppress the system noise more effectively and improve the stability of the system attitude calculation.