摘要
针对传统单组MEMS传感器在姿态解算中所面临精度低、稳定性差等问题,提出一种基于多MEMS传感器组合姿态解算方法。载体坐标系各轴采用4组传感器,两两对角安装,将组合传感器测量数据与四元数估计数据做向量积,通过两组模糊和两组PI算法进行组合调节,利用互补滤波进行数据信息融合,通过自适应扩展卡尔曼滤波对修正后角速度进行预测估计,求得姿态角数据。仿真结果分析,所提出的方法较传统姿态解算方法具有更高的精度和稳定性。
Aiming at the problems of low precision and poor stability of traditional single-group MEMS sensors in attitude calculation,a Multi-MEMS sensor combined attitude solution method was proposed.Four axes of sensors are used in each axis of the carrier coordinate system,and the two pairs are installed diagonally.The combined sensor measurement data and the quaternion estimation data are vector products,combined adjustment by two sets of fuzzy and two sets of PI algorithms.The adaptive extended Kalman filtering(AEKF)predicts the corrected angular velocity and obtains the attitude angle data.The simulation results show that the proposed method has higher accuracy and stability than the traditional attitude solving method.
作者
吉寒冬
姜文刚
JI Han-dong;JIANG Wen-gang(College of Electronic Information,Jiangsu University of Science and Technology,Zhenjiang 212003,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2020年第8期81-85,共5页
Instrument Technique and Sensor
基金
国家自然科学基金资助项目(61503162)。
