CAJ | 학술논문

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°.
제출료일충기우저성본MEMS관성전감기적미형자태측량계통,포괄MEMS속솔타라、MEMS자강계、단축MEMS가속도전감기.중점연구료기우확전Kalman려파(EKF)적자태고계창신산법,통과속솔타라경신오차상태사원수계산자태각,병통과비행방향적가속도전감기화삼축자강계래보상타라표이화자태각오차.이용확전잡이만려파방정소제순시간우,실현고동태자태측량.계통적방진화고동태실험표명,자태측량동태정도저우5°,정태정도저우0.7°.
In this paper, a micro attitude determination system with a novel attitude estimating algorithm used among the aerial Held 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 maneuvers, the earth's magnetic field and the effective part of gravity along the motion direction as the two measured quantities are introduced as virtual measurements in the extended Kalman filter ( EKF) which decreases short-term errors. Simulation and flight experimental results indicate that attitude quaternion is determined with standard deviations below 5°even in high dynamics and 0. 7°in static state.