| 蛇形机器人互补滤波和四元数的姿态解算 |
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| 引用本文： | 王超杰,苏中,时佳斌,陈庚.蛇形机器人互补滤波和四元数的姿态解算[J].传感器与微系统,2014,33(10):137-140. |
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| 作者姓名： | 王超杰 苏中 时佳斌 陈庚 |
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| 作者单位： | 北京信息科技大学高动态导航技术北京市重点实验室,北京,100101 |
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| 基金项目： | 国家自然科学基金资助项目，北京市科技计划资助项目，北京市教委科技成果转化和产业化项目 |
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| 摘 要： | 针对蛇形机器人姿态解算问题,陀螺存在漂移特性,加速度计的测量值包含重力加速度和运动加速度,磁强计易受周围环境地磁干扰,并且蛇形机器人采用嵌入式微处理器,需要减少计算量.设计了用互补滤波器来实现惯性传感器的数据融合,用四元数进行姿态解算的方法.经过实验验证表明：采用互补滤波和四元数进行姿态解算能有效融合各个惯性传感器的数据,计算量小,能够满足蛇形机器人对精度和实时性的要求.
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| 关 键 词： | 蛇形机器人 姿态解算 互补滤波器 惯性传感器 四元数 |
Attitude calculation of snake-like robot using complementary filtering and quaternion |
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| WANG Chao-jie,SU Zhong,SHI Jia-bin,CHEN Geng.Attitude calculation of snake-like robot using complementary filtering and quaternion[J].Transducer and Microsystem Technology,2014,33(10):137-140. |
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| Authors: | WANG Chao-jie SU Zhong SHI Jia-bin CHEN Geng |
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| Affiliation: | (Beijing Key Laboratory of High Dynamic Navigation Technology,University of Beijing Information Science ＆ Technology, Beijing 100101, China) |
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| Abstract: | Aiming at problem of attitude calculation of snake-like robot, gyro exists drift characteristics, measured value of accelerometer includes gravity and motion acceleration, magnetometer vulnerable to ambient geographic magnetic interference, and snake-like robot use embedded microcontrollers,which reduce the need of computation amount. Therefore, design inertial sensor data fusion is achieved with complementary filtering and attitude calculation is carried out with quaternion method. Experimental verification show that using complementary filtering and quaternion method can effectively fuse sensor datas, amount of calculation is small, and can meet requirements of precision and real-time for snake-like robot. |
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| Keywords: | snake-like robot attitude calculation complementary filter inertial sensor quaternion |
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