摘要
提出一种用于跟踪烹饪时锅具运动姿态变化的方法。该方法将MEMS陀螺仪、加速度计以及地磁传感器正交三元组安装于锅具柄部,并将其输出信息经过硬件滤波、软件误差补偿之后利用REQUEST算法进行融合。REQUEST算法与EKF算法相同之处在于均为以四元数为基础的迭代算法,而REQUEST算法由于其不易受锅具线加速度影响的特点而表现出优越性。文末通过仿真和实验对该方法进行了验证,并对REQUEST与EKF两种数据融合算法进行了比较,结果显示,即使在锅具高速运动情况下,由REQUEST算法得到的姿态解算精度仍可在10以内,而此时由EKF算法得到的解算误差已达40以上。上述结果表明,该文提出的方法对于测量锅具运动姿态而言是适用的。
A method for tracking the attitude change of the cooking pot in working was presented. The method preprocesses the data from small inertial/magnetic sensor modules containing tri-axial angular rate sensors, accelerometers, and magnetometers, which are fixed on the handle of the cooking pot. The preprocessings include the data filtering in hardware and the error compensating in software. Then the data are fused using the REQUEST algorithm. The similarity between the REQUEST algorithm and the EKF algorithm is that they are all quaternion-based, and iterative. However, the REQUEST algorithm is comparatively better because it is immune to the linear acceleration of the cooking pot. Simulation and experiment are done to compare the REQUEST algorithm and EKF algorithm, and the results show that, even if under the condition of high-speed movement of the pot, the error of the attitude estimate produced by the REQUEST algorithm is within 10°, while the error of EKF is above 40° under the same condition. The results indicate that the method is feasible in the attitude estimating of cooking pot.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期419-423,共5页
Journal of Chinese Inertial Technology
