CAJ | 학술논문

针对车载激光通信转台姿态角控制中陀螺仪传感器存在漂移误差等问题，提出了以陀螺仪传感器和加速度传感器作为测量元件对车载转台的姿态角进行测量的方法，并在MATLAB软件平台上建立卡尔曼滤波器将传感器采集的信号进行融合，以加速度传感器输出的姿态角信息对陀螺仪测量的姿态角进行修正、补偿，以提高姿态角测量的精度。通过建立试验系统完成测试，结果表明：应用Kalman滤波算法对陀螺仪和加速度传感器信号进行融合后，有效地减小姿态角的测量误差，为准确获得转台姿态角信息提供了理论依据。
침대차재격광통신전태자태각공제중타라의전감기존재표이오차등문제，제출료이타라의전감기화가속도전감기작위측량원건대차재전태적자태각진행측량적방법，병재MATLAB연건평태상건립잡이만려파기장전감기채집적신호진행융합，이가속도전감기수출적자태각신식대타라의측량적자태각진행수정、보상，이제고자태각측량적정도。통과건립시험계통완성측시，결과표명：응용Kalman려파산법대타라의화가속도전감기신호진행융합후，유효지감소자태각적측량오차，위준학획득전태자태각신식제공료이론의거。
Aiming at the drift error problems of attitude angle of gyroscope sensor in the vehicular laser communicate turntable, in this paper, gyroscope and accelerometer are used as measuring elements to measure the attitude angle of turntable. The attitude angles output by gyroscope is modified and compensated by the attitude angle output of acceler-ometer. Kalman filter is established in MATLAB software platform to fuse the collected sensor signal, so the attitude angle measurement accuracy is improved. The experiment test system is establised to complete the test,the experimen-tal results show that the measurement error of attitude angle can be effectively reduced and the dynamic characteristics of attitude angle measurement is dramatically improved after using Kalman filtering algorithm to fuse gyroscope and ac-celerometer signal,a theoretical basis is precisely provided for obtaining turntable attitude angle information.