| 基于MEMS惯性传感器的微型姿态测量系统 |
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| 引用本文： | 翟昱涛,魏强,王晓浩,周兆英.基于MEMS惯性传感器的微型姿态测量系统[J].纳米技术与精密工程,2009,7(4):375-379. |
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| 作者姓名： | 翟昱涛 魏强 王晓浩 周兆英 |
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| 作者单位： | 1. 航天科工卫星技术有限公司,北京,100088
2. 清华大学精密测量技术与仪器国家重点实验室,北京,100084 |
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| 基金项目： | 国家自然科学基金资助项目，武器装备预研资助项目 |
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| 摘 要： | 提出了一种基于低成本MEMS惯性传感器的微型姿态测量系统,包括MEMS速率陀螺、MEMS磁强计、单轴MEMS加速度传感器.重点研究了基于扩展Kalman滤波（EKF）的姿态估计创新算法,通过速率陀螺更新误差状态四元数计算姿态角,并通过飞行方向的加速度传感器和三轴磁强计来补偿陀螺漂移和姿态角误差,利用扩展卡尔曼滤波方程消除瞬时干扰,实现高动态姿态测量.系统的仿真和高动态实验表明,姿态测量动态精度低于5°,静态精度低于0.7°.
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| 关 键 词： | 低成本 MEMS惯性传感器 姿态测量 卡尔曼滤波 |
Micro Attitude Determination System Based on MEMS Inertial Sensors |
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| ZHAI Yu-tao,WEI Qiang,WANG Xiao-hao,ZHOU Zhao-ying.Micro Attitude Determination System Based on MEMS Inertial Sensors[J].Nanotechnology and Precision Engineering,2009,7(4):375-379. |
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| Authors: | ZHAI Yu-tao WEI Qiang WANG Xiao-hao ZHOU Zhao-ying |
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| Affiliation: | 1.CASIC Satellite Technology Company Limited;Beijing 100088;China;2.State Key Laboratory of Precision Measurement Technology and Instruments;Tsinghua University;Beijing 100084;China |
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| Abstract: | In this paper,a micro attitude determination system with a novel attitude estimating algorithm used among the aerial field is proposed based on low cost MEMS inertial sensors,including MEMS rate gyros,MEMS accelerometer and MEMS magnetometers.This paper presents the attitude estimating algorithm based on the error quaternion formulation,whereby the error quaternion is selected to compose the state vector that is updated by output of MEMS rate gyros.In order to estimate the attitude during high dynamic maneu... |
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| Keywords: | low cost MEMS inertial sensors attitude determination Kalman filter |
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