| 多MEMS传感器姿态测量系统的研究 |
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| 引用本文： | 高宗余,李德胜.多MEMS传感器姿态测量系统的研究[J].电光与控制,2010,17(3). |
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| 作者姓名： | 高宗余 李德胜 |
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| 作者单位： | 北京工业大学机电学院,北京,100124 |
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| 基金项目： | 西门子中国研究院资助项目(40001014200611) |
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| 摘 要： | 提出利用多个MEMS传感器组合定姿的方法,该方法利用加速度计的输出判断载体运动状态,采用EKF滤波算法对其状态进行估计,并在滤波算法中应用加速度计和磁强计组合计算所得的姿态信息作为对陀螺漂移的补偿,最后通过数据融合修正其姿态角。
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| 关 键 词： | 惯性传感器 EKF滤波 MEMS 漂移 数据融合 |
Attitude Measurement System Based on Multiple MEMS Sensors |
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| GAO Zongyu,LI Desheng.Attitude Measurement System Based on Multiple MEMS Sensors[J].Electronics Optics & Control,2010,17(3). |
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| Authors: | GAO Zongyu LI Desheng |
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| Affiliation: | College of Mechanical Engineering & Applied ET;Beijing University of Technology;Beijing 100124;China |
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| Abstract: | A new method for attitude measurement based on multiple MEMS sensors is proposed.In the method,the output of accelerometer was used to judge the motion state of the carrier,and Extended Kalman Filter (EKF) was used for estimating its status.The gyroscopic drift was compensated by the attitude information obtained through combined calculation of the accelerometer and magnetometer in the filtering algorithm.At last,the attitude angle was amended by using data fusion algorithm. |
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| Keywords: | inertial sensor EKF filtering MEMS drift data fusion |
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