基于四元数矢量平均的阵列MEMS-IMU轴对准及姿态解算方法

Array MEMS-IMU axis alignment and attitude solution method based on quaternion vector averaging

为解决MEMS-IMU姿态解算误差较大的问题,提出了一种基于阵列MEMS-IMU数据融合的姿态解算系统和方法。采用阵列MEMS芯片四元数矢量平均法进行轴对准,对阵列MEMS-IMU进行数据融合,再使用改进的动态卡尔曼滤波方法对运动中的载体姿态进行解算。通过精密转台的姿态旋转实验对所提方法进行验证,实验结果表明:对比传统的阵列MEMS-IMU未进行轴对准法和精密转台轴对准法,所提方法的姿态解算精度比未进行轴对准的阵列MEMS-IMU提升约2.3倍,与精密转台轴对准法的精度基本持平,验证了所提方法能简便、高效地提高姿态解算精度,具有一定的工程应用价值。

In order to solve the problem of large attitude calculation errors in micro electro mechanical system-inertial measurement unit(MEMS-IMU),an attitude solution system and method based on array MEMS-IMU data fusion is proposed.The array MEMS chip quaternion vector averaging method is used for axis alignment,and then the array MEMS-IMU data is fused and improved dynamic Kalman filtering method is used to solve the attitude of the moving carrier.The proposed method is validated through attitude rotation experiments on a precision turntable.The experimental results show that compared with the traditional array MEMS-IMU without axis alignment and the precision turntable axis alignment method,the attitude solving accuracy of the proposed method is about 2.3 times higher than that of the array MEMS-IMU without axis alignment method,which is basically the same as that of the precision turntable axis alignment method.It is verified that the proposed method can simply and efficiently improve the attitude calculation accuracy,and has certain engineering application value.