CAJ | 학술논문

针对陀螺仪具有零点漂移的缺点，利用加速度计短时相对稳定的特点，提出基于加速度的姿态解算修正方法，该方法通过对三轴重力加速度进行卡尔曼滤波以降低噪声干扰，然后计算出三轴的旋转角度，从而修正陀螺仪计算的角度，实现姿态解算修正。实验表明，该方法的准确性和效率都很高，能够达到实时性的要求。
침대타라의구유영점표이적결점，이용가속도계단시상대은정적특점，제출기우가속도적자태해산수정방법，해방법통과대삼축중력가속도진행잡이만려파이강저조성간우，연후계산출삼축적선전각도，종이수정타라의계산적각도，실현자태해산수정。실험표명，해방법적준학성화효솔도흔고，능구체도실시성적요구。
For the gyroscope has the shortcomings of zero drift, this paper presents a correction method of attitude algorithm based on the acceleration taking use of the characteristic of accelerometer short relatively stable. The method uses Kalman filter to reduce noise of three axis acceleration, and then calculate the three rotation angle of the shaft, thereby correcting the angle gyroscope cal?culated correction of attitude solver. Experimental results show that the accuracy and efficiency of the process are high, and can achieve real-time requirements.