CAJ | 학술논문

针对低成本惯性测量单元( IMU)存在漂移和噪声干扰等问题，提出了一种具有自适应参数调节的混合滤波算法。采用四元数法进行系统模型的描述，用梯度下降法对加速度计测得的数据进行处理，再通过互补滤波器将其与陀螺仪测量值进行融合，形成混合滤波算法。同时，考虑到飞行姿态的复杂性，进行参数姿的自适应调节，因而改进后的混合滤波算法，能保证各种飞行姿态变化情况下实时姿态的最优估算。实际系统在线实时性能测试表明，提出的算法简单，估计精度高，易于在嵌入式系统中实现，具有较高推广应用价值。
침대저성본관성측량단원( IMU)존재표이화조성간우등문제，제출료일충구유자괄응삼수조절적혼합려파산법。채용사원수법진행계통모형적묘술，용제도하강법대가속도계측득적수거진행처리，재통과호보려파기장기여타라의측량치진행융합，형성혼합려파산법。동시，고필도비행자태적복잡성，진행삼수자적자괄응조절，인이개진후적혼합려파산법，능보증각충비행자태변화정황하실시자태적최우고산。실제계통재선실시성능측시표명，제출적산법간단，고계정도고，역우재감입식계통중실현，구유교고추엄응용개치。
Concerning the drift and noise interference of low cost inertial measurement unit, a hybrid filtering algorithm with adaptive adjustment of parameters was proposed. With the quaternion for describing the attitudes,the accelerometer data is processed using gradient descent algorithm. And then the results are fused with Gyro measurements through the complementary filter, which is called the mixed filter algorithm. At the same time, considering the complexity of flight attitude,the parameters can be adaptively adjusted. So the improved hybrid filter algorithm can guarantee the optimal attitude estimation in real time for various flight attitudes. The online test results of the real-time system show that the proposed algorithm simple to realize and has high estimation accuracy. It is es-pecially suitable for implementation on embedded hardware which has high application value.