一种基于MEMS传感器的无人飞艇航姿测量系统

提出了一种基于微机电系统(MEMS)惯性传感器的航姿测量系统。分析了一些传统姿态解算算法融合过程中的不足,提出一种高效的融合算法,利用梯度法将加速度计和磁力计对地球重力场和磁场矢量的观测量去修正陀螺给出的姿态信息。针对实际测量系统中振动对姿态的干扰问题,提出切比雪夫II型低通数字滤波器进行传感器数据预处理,并结合运动状态修正融合算法从而进一步抑制振动。通过实验表明:该系统的算法具有较低的计算负荷,能有效地估计出姿态,抑制振动有害加速度对姿态估计的影响,测量动态误差小于2°,静态误差小于0.8°。

An unmanned airship attitude measurement system based on MEMS sensors

An attitude measurement system based on micro-electro-mechanical systems（ MEMS） inertial sensors is presented.Analyze shortage of traditional attitude resolving algorithms in fusion process,an efficient fusion algorithm is presented,use observed quantity of accelerometer and magnetometer on gravity field and magnetic field vector of the earth to revise attitude information given by gyroscope.Aiming at interference problem of vibration on attitude,the Chebyshev II low-pass digital filter are used in sensors data preprocessing,and revice fusion algorithm,combining motion state to restrain vibration.Experiments show that the algorithm of system has low computational load,can effectively estimate attitude and can suppress the influence of harmful acceleration of vibration on attitude estimation,and dynamic error of measurement is less than 2°,and static error is less than 0. 8°.