| 卡尔曼滤波在MEMS惯性姿态测量中的应用 |
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| 引用本文： | 张彤,孙玉国.卡尔曼滤波在MEMS惯性姿态测量中的应用[J].光学仪器,2015,37(1):28-30. |
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| 作者姓名： | 张彤 孙玉国 |
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| 作者单位： | 上海理工大学光电信息与计算机工程学院,上海,200093 |
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| 基金项目： | 上海市大学生创新试验项目(SH2013042) |
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| 摘 要： | 由于测控成本和有效载荷的限制,一般采用微机电系统(MEMS)惯性传感器来测量小型无人机的飞行姿态。在MC9S12XS128单片机上通过嵌入式软件编程实现了卡尔曼滤波算法,并在JZJ-1型自准直仪转台上对MEMS加速度计和陀螺仪的输出信号进行了数据融合试验,较好地解决了MEMS惯性测量系统的零漂和机械振动干扰问题。
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| 关 键 词： | 姿态测量 微机电系统 惯性传感器 卡尔曼滤波 |
| 收稿时间： | 2014/6/20 |
Application of Kalman filter in attitude determination based on MEMS inertial sensors |
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| ZHANG Tong and SUN Yuguo.Application of Kalman filter in attitude determination based on MEMS inertial sensors[J].Optical Instruments,2015,37(1):28-30. |
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| Authors: | ZHANG Tong and SUN Yuguo |
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| Affiliation: | School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China |
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| Abstract: | Micro-electronic mechanical system (MEMS) inertial sensors are usually used to measure the attitude of the small unmanned aerial vehicle (UAV), in order to reduce the controlling cost and save the effective payload. In this paper, the Kalman filtering algorithm was implemented on MCU MC9S12XS128 by embedded software. The Data fusion of the MEMS accelerometer and gyroscope output signals was executed by Kalman filter. The experimental results show that the zero drift and mechanical vibration interference problem of the MEMS inertial sensors could be reduced dramatically by the Kalman filter. |
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| Keywords: | attitude determination MEMS inertial sensor Kalman filter |
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