摘要
载体作机动运动时,基于加速度计和磁传感器的姿态测量系统易受载体运动加速度的影响而导致测量精度降低.通过将GPS加速度引入重力观测方程,有效补偿了载体运动加速度造成的姿态测量误差.利用基于重力场和地磁场矢量观测的迭代最小二乘姿态确定算法得到修正罗德里格姿态参数.姿态信息通过互补滤波器与陀螺仪测量值融合以提高动态响应.实验结果表明,该低成本姿态测量系统可明显提高机动环境下的姿态测量精度,姿态角测量误差小于3°.
Translational acceleration may affect accelerometer output and will result in performance reduction of accelerometer and magnetometer based attitude determination system. To compensate for the acceleration effect, the GPS-derived acceleration was introduced to correct the gravity field vector. An iterative least square attitude estimator was developped to determine the MRPs attitude from the gravity field and magnetic field vector observations. The attitude was then fused with the measurements of rate gyros using complementary filter. The experimental results have shown that the proposed attitude determination system can improve the measurement accuracy markedly during maneuvers, the measurement accuracy achieves 3°.
出处
《传感技术学报》
CAS
CSCD
北大核心
2007年第10期2272-2275,共4页
Chinese Journal of Sensors and Actuators
基金
国家"863"高技术研究发展计划资助项目(2006AA10Z204)
