基于IMEMS传感器的汽车运动姿态测量系统研究

针对传统的采用机械转子陀螺构成机械平台来测量汽车姿态方法的不足，研究开发了基于集成微机电系统（IMEMS）传感器的捷联式汽车运动姿态测量系统。该系统采用四元数法作为汽车运动姿态的解算方法，并由Kalman滤波器完成对姿态角四元数估计误差和加速度计及角速度陀螺信号的融合，得到汽车姿态角的最优估计值，阐述了该系统硬件构成和软件设计，并通过汽车道路试验对系统的可行性进行了验证。结果表明：此测量系统能够满足汽车运动姿态测量的精度要求，是确实可行的测量系统。

Research on measurement system of vehicle motion attitude based on IMEMS sensor

In order to overcome the shortcomings of traditional vehicle attitude measurement methods which realize on mechanical desktop consist of mechanical rotor gyros,a strap-down attitude measurement system based on IMEMS sensors is studied.It adopts quaternion method for attitude algorithm and uses Kalman filter for data fusion of estimated errors of attitude angle quaternion as well as the signals of gyros and accelerations to get the optimal estimation of attitude angles.The configuration and software design o...