基于不同方法对惯性单元数据的处理

Processing of Inertial Unit Data Based on Different Methods

实验采集得到的惯性测量单元数据一般包含测量误差或低频干扰,若将这些数据直接用于分析则会造成较大的误差。基于此本文通过对数字积分滤波器的设计、加速度信号滤波后趋势项的消除和陀螺信号消噪等方法对采集的数据进行分析处理。通过实验结果分析此方法有效滤除惯性测量输出误差,并应用于实践中。

The inertial measurement unit data collected by experiments generally include measurement errors or low-frequency interference.If these data are directly used for analysis,it will cause large errors.Based on this,the collected data is analyzed and processed through the design of digital integration filter,elimination of the trend term after acceleration signal filtering,and gyro signal denoising.The experimental results show that this method can effectively filter out the inertial measurement output error and apply it to practice.