基于扩展卡尔曼滤波算法的机器人姿态解算研究

Robot attitude calculation based on extended Kalman filter algorithm

针对机器人上的惯性导航系统由于振动干扰存在,导致测量数据中包含有大量噪声问题,进行了测量数据滤波研究。使用扩展卡尔曼滤波(EKF)对传感器测量的数据滤波,并进行姿态解算,通过静态、动态测试完成滤波前后数据对比,实验结果表明扩展卡尔曼滤波(EKF)不仅可以滤除测量数据中的大部分噪声,同时可以提高姿态解算精度。

A lot of noise is found in the measurement data of inertial navigation system of robot due to vibration interference,so the measurement data filtering is studied.The extended Kalman filter(EKF)is used to filter the measured data of the sensor,and the attitude calculation is carried out.The data before and after filtering is compared through static and dynamic testing.Experimental results show that the extended Kalman filter(EKF)can not only filter most of the noise in the measurement data,but also improve the accuracy of attitude calculation.