摘要
针对陀螺仪具有零点漂移的缺点,利用加速度计短时相对稳定的特点,提出基于加速度的姿态解算修正方法,该方法通过对三轴重力加速度进行卡尔曼滤波以降低噪声干扰,然后计算出三轴的旋转角度,从而修正陀螺仪计算的角度,实现姿态解算修正。实验表明,该方法的准确性和效率都很高,能够达到实时性的要求。
For the gyroscope has the shortcomings of zero drift, this paper presents a correction method of attitude algorithm basedon the acceleration taking use of the characteristic of accelerometer short relatively stable. The method uses Kalman filter to reducenoise of three axis acceleration, and then calculate the three rotation angle of the shaft, thereby correcting the angle gyroscope cal-culated correction of attitude solver. Experimental results show that the accuracy and efficiency of the process are high, and canachieve real-time requirements.
作者
曾文献
赵杨
ZENG Wen-xian, ZHAO Yang （Hebei University of Economics and Business, Shijiazhuang 050061, China）
出处
《电脑知识与技术》
2015年第6期227-229,共3页
Computer Knowledge and Technology
基金
河北省科技计划项目（14210310D）
大学生创新训练计划项目
