基于互补滤波的汽车姿态数据采集系统研究

Research on Vehicle Attitude Data Acquisition System Based on Complementary Filtering

为了掌握汽车行驶过程中的各种姿态数据,监控汽车运行状态,设计了一种汽车姿态数据采集系统。采用MEMS九轴运动传感器,基于惯性导航原理,运用互补滤波算法,结合高性能嵌入式处理器,实时采集汽车姿态数据,并进行数据校准、互补滤波和数据修正,解算出有效的全方位姿态数据,包括俯仰角、翻滚角和航向角。经过实车测试,能够真实地反映出汽车的运行状态。这些数据可以描绘出汽车的运行轨迹;还可以用来还原事故现场,进行责任认定;回放行驶路线、分析驾驶员驾驶行为。

In order to master all kinds of attitude data during the driving process of the car and monitor the running state of vehicles, a vehicle attitude data acquisition system is designed. Using MEMS nine-axis motion sensor, based on inertial navigation principle, using complementary filtering algorithm, combined with high-performance embedded processor, the vehicle attitude data is collected in real time, and the data calibration, complementary filtering and data correction are carried out to calculate the effective omni-directional attitude data, including pitch angle, roll angle and yaw angle. After the real vehicle test, it can truly reflect the running state of the car. These data can depict the running track of the car, restore the scene of the accident, determine the responsibility, replay the driving route and analyze the driver’s driving behavior.