CAJ | 학술논문

针对三轴视觉跟踪姿态角稳定精度不高的问题，采用基于四元数的卡尔曼滤波器算法把三轴陀螺、加速度计、磁极三个不相干的三维矢量进行数据融合。通过三轴实验平台进行测试，该系统的动态测量精度范围小于±2°，并且算法运行速度快、精度高、性能稳定，达到了设计要求。
침대삼축시각근종자태각은정정도불고적문제，채용기우사원수적잡이만려파기산법파삼축타라、가속도계、자겁삼개불상간적삼유시량진행수거융합。통과삼축실험평태진행측시，해계통적동태측량정도범위소우±2°，병차산법운행속도쾌、정도고、성능은정，체도료설계요구。
In order to solve the problem of visual tracking stabilization precision of the three axis attitude angle ,the data fusion of three dimensional vectors including the three axis gyroscope ,accelerometer and magnetic poles is carried out using the Calman filter based on quaternion .The experiment results show that the dynamic measurement accuracy of the system is less than ± 2° ,and the algorithm is fast ,high precision ,stability ,meets the design requirements .