CAJ | 학술논문

针对传统人体姿态解算算法中存在的稳定性差和解算精度低等问题，提出一种基于多传感器信息融合的姿态解算算法。利用四元数计算人体的姿态变化，将惯性测量模块的姿态测量值与观测值之间的偏差通过PI调节进行控制；采用互补滤波对多传感器数据进行融合，求取人体实时姿态。实验表明，该算法能够实现稳定地输出高精度姿态数据。
침대전통인체자태해산산법중존재적은정성차화해산정도저등문제，제출일충기우다전감기신식융합적자태해산산법。이용사원수계산인체적자태변화，장관성측량모괴적자태측량치여관측치지간적편차통과PI조절진행공제；채용호보려파대다전감기수거진행융합，구취인체실시자태。실험표명，해산법능구실현은정지수출고정도자태수거。
Aiming at the problems of poor stability and short precision in traditional attitude estimation algorithms, a method based on multi-sensor information fusion was proposed.The quaternion was used to calculate the attitude chan-ges, and deviations between measurements and observations from the Inertial Measurement Unit( IMU) were managed by PI regulator.The complementary filtering was adopted for multi-sensor information fusion, and the real-time attitude was got.Experimental results showed that the algorithm could output the high precision attitude steadily.