CAJ | 학술논문

微惯性传感器精度较低,其漂移会引起很大的姿态误差,不能提供长时间稳定姿态;磁传感器组合的姿态角误差不随时间累积但姿态角更新速度慢.针对这一问题提出了利用磁/惯性传感器构建低成本姿态探测系统的方案,设计了Kalman滤波器融合二者信息--以磁传感器解算的姿态角和等效旋转矢量法解算的姿态角之差作为观测量,以惯性传感器的漂移和姿态误差角作为状态变量,整个解算过程无需使用地磁场强度.仿真结果表明了该算法的有效性,二者组合定姿可实现高精度的姿态测量.
미관성전감기정도교저,기표이회인기흔대적자태오차,불능제공장시간은정자태;자전감기조합적자태각오차불수시간루적단자태각경신속도만.침대저일문제제출료이용자/관성전감기구건저성본자태탐측계통적방안,설계료Kalman려파기융합이자신식--이자전감기해산적자태각화등효선전시량법해산적자태각지차작위관측량,이관성전감기적표이화자태오차각작위상태변량,정개해산과정무수사용지자장강도.방진결과표명료해산법적유효성,이자조합정자가실현고정도적자태측량.
The low accuracy of MEMS inertial sensors cannot provide long-time steady attitude due to large attitude error caused by drift, and the attitude error calculated by magnetic sensors is not accumulated with time, the speed of attitude update is slowly. In order to solve these questions, a low cost scheme of full attitude detection system composed of inertial sensors and magnetic sensors is presented, and the Kalman filter is adopted to merge the information comed from inertial sensors and magnetic sensors. The difference between attitude angles calculated by magnetic sensors and method of equivalent rotation vector is used as the observed value, and the drift of inertial sensors and the error of attitude angles are used as state vector. The geomagnetic field strength needn't be known in solution. The effectiveness of this algorithm is demonstrated by simulation, and the high accuracy attitude measurement can be achieved by the composition of magnetic sensors and inertial sensors.