| MEMS四元数卡尔曼滤波算法的电梯姿态估计 |
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| 引用本文： | 郭威,吴允平,王廷银. MEMS四元数卡尔曼滤波算法的电梯姿态估计[J]. 计算机系统应用, 2020, 29(3): 246-252 |
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| 作者姓名： | 郭威 吴允平 王廷银 |
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| 作者单位： | 福建师范大学光电与信息工程学院,福州350007;福建师范大学光电与信息工程学院,福州350007;数字福建环境监测物联网实验室,福州350117;福建省光电传感应用工程技术研究中心,福州350007 |
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| 基金项目： | 国家自然科学基金-海峡联合基金重点项目（U1805263）；福建省引导性项目（2019H0009）；福建省自然科学基金（2019J01427） |
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| 摘 要： | 将多维MEMS传感器应用于电梯监测,根据电梯的工作特点,优化四元数互补滤波方法修正陀螺仪数据求解电梯的实时姿态,然后应用卡尔曼滤波方法进一步提高姿态监测精度.实际验证表明,该方法可以提高电梯姿态监测数据的准确性,利用运行的姿态角和加速度峰度进行分析、比对可为电梯安全舒适度评估提供关键的数据依据.
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| 关 键 词： | MEMS 电梯姿态 卡尔曼滤波 舒适度 |
| 收稿时间： | 2019-07-18 |
| 修稿时间： | 2019-08-22 |
Elevator Attitude Estimation Based on MEMS Quaternion Kalman Filter Algorithm |
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| GUO Wei,WU Yun-Ping and WANG Ting-Yin. Elevator Attitude Estimation Based on MEMS Quaternion Kalman Filter Algorithm[J]. Computer Systems& Applications, 2020, 29(3): 246-252 |
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| Authors: | GUO Wei WU Yun-Ping WANG Ting-Yin |
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| Affiliation: | College of Photonic and Electronic Engineering, Fujian Normal University, Fuzhou 350007, China,College of Photonic and Electronic Engineering, Fujian Normal University, Fuzhou 350007, China;Digital Fujian Environmental Monitoring IoT Laboratory, Fuzhou 350117, China;Fujian Provincial Engineering Technology Research Center of Photoelectric Sensing Application, Fuzhou 350007, China and College of Photonic and Electronic Engineering, Fujian Normal University, Fuzhou 350007, China;Digital Fujian Environmental Monitoring IoT Laboratory, Fuzhou 350117, China;Fujian Provincial Engineering Technology Research Center of Photoelectric Sensing Application, Fuzhou 350007, China |
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| Abstract: | The multi-dimensional MEMS sensor is applied to elevator monitoring. According to the working characteristics of the elevator, the quaternion complementary filtering method is modified to correct the gyroscopedata to solve the real-time attitude of the elevator, and then the Kalman filtering method is applied to further improve the attitude monitoring accuracy. The actual verification shows that the method can improve the accuracy of elevator attitude monitoring data,and use the attitude angle and acceleration kurtosis to analyze and compare, which can provide critical data basis for elevator safety and comfort assessment. |
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| Keywords: | MEMS elevator attitude Kalman filter comfort |
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