基于角度补偿的手机多传感器数据融合测距算法

在惯性测量领域,单纯利用加速度二次积分的方法并不能准确感知目标对象移动的距离.加速度传感器在感知呈线性运动的目标对象时较为准确和实用,但在三维空间运动时它的坐标轴会随物体发生方向的改变而不断漂移.为解决该问题,提出了一种基于角度补偿的手机多传感器数据融合测距算法(ADC-R),使用加速度传感器测量物体运动的加速度,作为计算位移的原始数据;采用手机陀螺仪传感器测量运动物体的角速度,并以旋转矢量传感器输出的数据作为参数把手机动态坐标系下测得的加速度值空间坐标转换到静态的参考坐标系下,然后进行数据融合完成角度补偿计算;最后根据物理学加速度和位移的关系运用数学积分方法和进一步修正误差的技术得到最终移动的距离.实验结果表明此方法在近距离测距方面精度较高,优于加速度积分算法和加速度与陀螺仪融合算法.

Angle Data Compensated Ranging Using Multiple Sensors Data Fusion of Smart Phone

In the field of inertial measurement,it does not accurately perceive the target object movement distance by simply using double integration of acceleration method.Acceleration sensor in the sense of linear movement of the target object is more accurate and practical,but it will change the direction of the drift continually occur in the three-dimensional movement of its axis with the object.To solve this problem,this paper proposes an algorithm that angle data compensated ranging (ADC-R)using multiple sensors data fusion of smart phone:acceleration sensor is used to measure the movement of object acceleration as calculated displacement of the original data;it is using gyroscope sensor to measure angular velocity of the moving object and the output data of the rotation vector sensor is used as the parameter to convert the measured acceleration value space coordinate of mobile phone to the static reference coordinate system.According to the relationship between acceleration and displacement of physics,the method of mathematical integration and the technique of further error correction are used to get the final moving distance.The experimental results show that this method has high precision in the near distance ranging and it is better than the acceleration integral ranging algorithm and acceleration gyroscope fusion ranging algorithm.