CAJ | 학술논문

针对帆船运动姿态监测的需求，设计并实现了一个基于微机电系统(MEMS)陀螺仪和加速度传感器的运动姿态实时测量系统。多传感器的数据融合，实现了姿态测量高准确度的要求。应用陀螺仪传感器监测船体姿态角度可避免因船体变速运动而导致的测量偏差；利用加速度传感器测量数据可有效消除陀螺仪的漂移误差和累积计算误差；采用加权时变的卡尔曼滤波作为数据融合方法有效地提高了姿态角度测量的精确度和稳定性。该方法已成功应用于 Laser帆船运动姿态实时测量系统中，测量精确度达到了 o±1。
침대범선운동자태감측적수구，설계병실현료일개기우미궤전계통(MEMS)타라의화가속도전감기적운동자태실시측량계통。다전감기적수거융합，실현료자태측량고준학도적요구。응용타라의전감기감측선체자태각도가피면인선체변속운동이도치적측량편차；이용가속도전감기측량수거가유효소제타라의적표이오차화루적계산오차；채용가권시변적잡이만려파작위수거융합방법유효지제고료자태각도측량적정학도화은정성。해방법이성공응용우 Laser범선운동자태실시측량계통중，측량정학도체도료 o±1。
To meet the requirements for monitoring the sailing attitude, a real-time sailing attitude measurement system is designed and implemented based on Micro Electro Mechanical Systems(MEMS) gyroscope and accelerometer. Multi-sensor data fusion achieves the high accuracy of attitude measurement. The application of gyroscope can avoid measurement deviations caused by sailing variable motions. The utilization of accelerometer can effectively eliminate gyro drift errors and cumulative calculation errors. Time-variant Kalman filter,as the method of data fusion,can improve the attitude measurement precision and stability greatly. The measurement method has been successfully applied to the real-time attitude measurement system of Laser Sailing with a precision up to o±1 .