基于IMU智能安全帽姿态估计

Attitude Estimation of Intelligent Helmet Based on IMU

提出一种基于9轴IMU的智能安全帽姿态估计算法,实现智能安全帽实时姿态估计。通过对IMU采集到的物体加速度和物体所在地磁感应强度数据进行分解,得到物体静态四元数数据;然后根据物体角速度数据和四元数的微分关系对动态四元数进行估计,实现物体的姿态估计。同时,文中提出修正转轴补偿的方法,解决由于物体俯仰角为±π/2时分解四元数计算横滚角时出现的奇异值问题。实验结果显示,文中算法可以实现智能安全帽的姿态估计,在估算精度和实现性上均有良好表现。

A new attitude estimation algorithm based on 9 axis IMU is proposed to realize the real-time attitude estimation of intelligent helmet.The static quaternion data of the object can be obtained by decomposing the data of the object acceleration and the magnetic induction intensity of the place where the object is located collected by IMU.Then the dynamic quaternion is estimated according to the differential relation of the object's angular velocity data and quaternion,and the object's attitude is estimated.At the same time,a method of correcting the rotation axis compensation is proposed to solve the singular value problem resulted from the calculation of the roll angle in quaternion decomposition when the object's pitch angle is±π/2.Experimental results show that the proposed algorithm can realize the attitude estimation of the smart helmet,and has good performance in estimation accuracy and realization.