摘要
为了解决陀螺随时间的漂移以及周围环境产生的随机误差的问题,设计了一种基于互补滤波的姿态求解方案,同时通过将三子样算法和互补滤波结合起来使该算法适用于高动态等复杂环境下的姿态测量。该方案采用四元数法对姿态进行描述,经过高精度三轴温控速率转台上的静态实验以及摇摆动态实验,通过对比高精度转台角度值,可以发现互补滤波算法对于精度的提高有明显的效果,有效地将惯性测量单元的数据进行融合。同时由于采用了三子样算法可以满足高动态环境下的姿态测量,确保了系统在各种环境下精确测量。
In order to solve the problem of gyro drift with time and random error produced by the surrounding environment,a kind of attitude solving scheme has been design based on complementary filter,at the same time through the attitude measurement tri-sample algorithm and complementary filtering are combined to make the algorithm suitable for high dynamic and complex environment.The scheme uses quaternion to describe the attitude.Through the static experiment and swing dynamic experiment of high precision,three axis rate turntable,by comparing the high precision turntable angle value,it can be found that the complementary filter algorithm has obvious effect on the improvement of accuracy,and effective fusion of inertial measurement unit data.The use of tri-sample algorithm can meet the attitude the measurement of high dynamic environment,ensure the accurate measurement system in a variety of environments.
作者
杨雁宇
李杰
冯凯强
杜瑾
刘伟
YANG Yanyu;LI Jie;FENG Kaiqiang;DU Jin;LIU Wei(North University of China Key Laboratory of Instrumentation Science and Dynamic Measurement,Taiyuan 030051,China)
出处
《电子器件》
CAS
北大核心
2018年第1期126-129,共4页
Chinese Journal of Electron Devices
基金
国家自然科学基金项目(51575500)
关键词
姿态测量
三子样算法
互补滤波
四元数
attitude measurement
tri-sample algorithm
complementary filter
quaternion
