CAJ | 학술논문

针对传统的采用机械转子陀螺构成机械平台来测量汽车姿态方法的不足,研究开发了基于集成微机电系统(IMEMS)传感器的捷联式汽车运动姿态测量系统.该系统采用四元数法作为汽车运动姿态的解算方法,并由Kalman滤波器完成对姿态角四元数估计误差和加速度计及角速度陀螺信号的融合,得到汽车姿态角的最优估计值,阐述了该系统硬件构成和软件设计,并通过汽车道路试验对系统的可行性进行了验证.结果表明:此测量系统能够满足汽车运动姿态测量的精度要求,是确实可行的测量系统.
침대전통적채용궤계전자타라구성궤계평태래측량기차자태방법적불족,연구개발료기우집성미궤전계통(IMEMS)전감기적첩련식기차운동자태측량계통.해계통채용사원수법작위기차운동자태적해산방법,병유Kalman려파기완성대자태각사원수고계오차화가속도계급각속도타라신호적융합,득도기차자태각적최우고계치,천술료해계통경건구성화연건설계,병통과기차도로시험대계통적가행성진행료험증.결과표명:차측량계통능구만족기차운동자태측량적정도요구,시학실가행적측량계통.
In order to overcome the shortcomings of traditional vehicle attitude measurement methods which realize on mechanical desktop consist of mechanical rotor gyros,a strap-down attitude measurement system based on IMEMS sensors is studied.It adopts quatemion method for attitude algorithm and uses Kalman filter for data fusion of estimated errors of attitude angle quaternion as well as the signals of gyros and accelerations to get the optimal estimation of attitude angles.The configuration and software design of system are discussed.The feasibility of system is proved by vehicle motion tests.The result shows that it can meet the requirement of accuracy of vehicle motion attitude measurement.