| 基于磁传感器组合的运动物体姿态解算 |
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| 引用本文： | 陶浪舟,李凯,韩焱,于明,王小飞.基于磁传感器组合的运动物体姿态解算[J].传感器与微系统,2013(12):124-126,130. |
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| 作者姓名： | 陶浪舟 李凯 韩焱 于明 王小飞 |
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| 作者单位： | [1]中北大学信息与探测技术研究所,山西太原030051 [2]中北大学国家电子测试重点实验室,山西太原030051 |
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| 基金项目： | 基金项目：国家自然科学基金资助项目（61227003） |
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| 摘 要： | 姿态参数的测试是运动物体测试过程中的重要指标。针对角速度陀螺仪在高速运动中姿态角的测量误差较大，提出了基于加速度和线圈式磁传感器的姿态测量组合。线圈式磁传感器的输出值包含了载体的转速和角速度信息的综合，求出载体的角速度信息，通过扩展的全姿态四元数算法进行数据融合和姿态解算。在三轴转台上进行半实物的仿真实验，验证算法的正确性，在解算过程中无须知道当地磁场大小，方法简单易行。
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| 关 键 词： | 线圈式磁传感器 姿态解算 扩展卡尔曼滤波 |
Attitude solution for moving object based on magnetic sensors combination |
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| TAO Lang-zhou,LI Kai,＇,HAN Yan,＇,YU Ming,WANG Xiao-fei.Attitude solution for moving object based on magnetic sensors combination[J].Transducer and Microsystem Technology,2013(12):124-126,130. |
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| Authors: | TAO Lang-zhou LI Kai ＇ HAN Yan ＇ YU Ming WANG Xiao-fei |
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| Affiliation: | 1 ( 1. Institute of Signal Capturing ＆ Processing Technology, North University of China, Talyuan 030051, China; 2. National Key Laboratory of Electronic Measurement Technology, North University of China, Taiyuan 030051, China) |
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| Abstract: | The test of attitude parameters is important index in the process of moving object test. Aiming at large error of measurement of attitude angle,angular speed gyro in high-speed movement,propose attitude measurement combination based on coil magnetic and acceleration sensors. The outputs value of coil type magnetic sensor contain information synthesis of rotational speed and angular velocity, then calculate angular velocity information of carrier data fusion and attitude solution by extended whole attitude quaternion algorithm. The experiment of semi- physical simulation on three-axis turntable shows that the algorithm is correct. Strength of local magnetic fieht is not needed, during calculation process, and the method is simple and feasible. |
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| Keywords: | coil type magnetic sensor attitude solution extended Kalman filter （EKF） |
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