| 基于L BFGS的自适应模糊互补滤波 |
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| 引用本文： | 刘宇,丁其星,郭俊启.基于L BFGS的自适应模糊互补滤波[J].压电与声光,2018,40(6):955-959. |
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| 作者姓名： | 刘宇 丁其星 郭俊启 |
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| 作者单位： | （重庆邮电大学 光电工程学院 光电信息感测与传输技术重庆市重点实验室，重庆 400065） |
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| 基金项目： | 国家自然科学基金资助项目(61301124，61471075，61671091)；重庆市科委基础研究项目（cstc2014jcyjA1350）；重庆科委自然科学基金资助项目(cstc2016jcyjA0347)；重庆邮电大学博士启动基金资助项目（A2015 40，A2015 49，A2016 76，A2016 72）；重庆高校优秀成果转化资助项目（KJZH17115） |
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| 摘 要： | 针对惯性测量单元噪声大及常规姿态解算算法精度不高的问题，提出了一种基于拟牛顿法（L-BFGS）的自适应模糊互补滤波（AFCF）算法。该方法利用L-BFGS对加速度计、磁力计进行寻优估计，并通过监测系统的运动等级、加速度计、磁力计的误差，运用模糊逻辑理论调控加权因子及增益权重，动态地调整互补滤波参数，实现姿态误差的动态补偿，优化姿态解算结果。经实验验证，系统静态误差在0.4°内；动态误差在1.3°内，且该系统能减少噪声的干扰及陀螺仪的漂移。
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| 关 键 词： | 姿态解算 拟牛顿法（L BFGS） 模糊逻辑 互补滤波 |
Adaptive Fuzzy Complementary Filtering Based on L BFGS |
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| LIU Yu,DING Qixing,GUO Junqi.Adaptive Fuzzy Complementary Filtering Based on L BFGS[J].Piezoelectrics & Acoustooptics,2018,40(6):955-959. |
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| Authors: | LIU Yu DING Qixing GUO Junqi |
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| Affiliation: | (Chongqing Key Laboratory of Photoelectric Information Sensing and Transmission Technology, School of Opto Electronic Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China) |
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| Abstract: | Aiming at the problem that the inertia measurement unit has large noise and the accuracy of the conventional attitude calculation algorithm is not high, an adaptive fuzzy complementary filter (AFCF) algorithm based on quasi Newton method (L-BFGS) is proposed in this paper. In this method, first the L BFGS is used to estimate the optimization of the accelerometer and magnetometer, monitor the motion level and the errors of the accelerometer and magnetometer. Then the fuzzy logic theory is used to adjust the weighting factor and gain weight to dynamically adjust the complementary filter parameter, realize the dynamic compensation of attitude error and optimize the attitude calculation results. The experimental verification show that the system static error is within 0.4°, the dynamic error is within 1.3°, and the system can reduce noise interference and gyroscope drift. |
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| Keywords: | attitude calculation quasi-Newton method (L-BFGS) fuzzy logic complementary filtering |
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