| 融合多传感信息的仿人机器人姿态解算 |
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| 引用本文： | 谢宁,毕俊熹,娄小平,祝连庆. 融合多传感信息的仿人机器人姿态解算[J]. 电子科技, 2015, 28(1): 150-154 |
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| 作者姓名： | 谢宁 毕俊熹 娄小平 祝连庆 |
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| 作者单位： | (1.北京信息科技大学 仪器科学与光电工程学院,北京 100192;2.北京信息科技大学 光电测试技术北京市重点实验室,北京 100192) |
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| 基金项目： | 2013年大学生科技创新计划国家级基金资助项目，北京信息科技大学教改基金 |
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| 摘 要： | 在RoboCup Soccer仿人机器人比赛中,机体姿态实时解算是仿人机器人运动控制系统的核心技术之一。文中分析了MEMS加速度计、磁强计和陀螺仪性能,以自主姿态测量为前提,融合惯性测量单元中多传感信息,提出了一种基于四元数的姿态解算算法。针对仿人机器人步行姿态控制中传感器数据存在的噪声干扰和测量误差,设计卡尔曼滤波器实现了对数据漂移的有效补偿,从而提高了全姿态检测的测量精度。试验结果验证了该算法对仿人机器人运动控制系统机体姿态实时解算的有效性。
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| 关 键 词： | 仿人机器人 自主姿态测量 惯性测量单元 四元数 姿态解算 卡尔曼滤波器 |
Humanoid Robot Attitude Algorithm Based on Multi-sensor Information Fusion |
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| XIE Ning,BI Junxi,LOU Xiaoping,ZHU Lianqing. Humanoid Robot Attitude Algorithm Based on Multi-sensor Information Fusion[J]. Electronic Science and Technology, 2015, 28(1): 150-154 |
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| Authors: | XIE Ning BI Junxi LOU Xiaoping ZHU Lianqing |
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| Affiliation: | (1.School of Instrumentation Science and Opto-electronics Engineering,Beijing Information Science & Technology University,Beijing 100192,China;
2.Beijing Key Laboratory for Opto-electronic Measurement Technology,Beijing Information Science & Technology University,Beijing 100192,China) |
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| Abstract: | In the RoboCup soccer field of Humanoid Robots,the real-time attitude algorithm on Humanoid Robots is one of the core technologies of the Motion Control System.The paper mainly introduces the properties of MEMS accelerometer,magnetometer and gyroscope.On the premise of autonomous measurement of attitude,the author fuses multi-sensor information of inertial measurement unit,and proposes the attitude algorithm based on quaternion.In view of the noises and measurement errors of sensor data,this method designs Kalman filter to gain the compensation for shifts in data.Thus,the measuring accuracy of the whole attitude estimation is improved.Experimental results validate the proposed method. |
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| Keywords: | humanoid robots autonomous measurement of attitude inertial measurement unit quaternion attitude algorithm Kalman filter, |
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