一种角度融合算法在姿态角解算中的应用

利用四元数求解姿态变换矩阵，采用三轴旋转的方式复合成姿态角变换矩阵，建立在姿态测量中的标度变换从而完成该算法的软件设计，然后通过对测量传感器MPU6050的电路设计和编程实验，并且建立上位机3D模型，验证该算法可以全姿态工作，实时性较强，计算量适中，测量结果满足水准仪测量应用中的需求。

Application of an Angle Fusion Algorithm in Attitude Angle Solution

Using the quaternions to solve attitude transformation matrix, using the three-axis rotation composite into the attitude angle transformation matrix, complete the software design of the algorithm based on the scale transformation in attitude measurement, through the measurement sensor MPU6050 circuit design and programming experiments, and the establishment of the upper machine 3D model, to verify that the method can work full-position, real-time, moderate calculation the measurement results meet the needs of the level measurement application.