摘要
在已设计好的捷联航姿系统硬件平台基础上,集传感器信息处理模块、航姿解算模块和信息融合模块于一体,综合设计了基于低成本IMU的捷联航姿系统软件算法。特别是在信息融合模块中采用了基于模糊推理的变加权系数多传感器信息融合算法,从而实现对惯性数据的融合,减小了系统随时间积累的航姿误差,保证航姿系统的精度指标满足要求(静态航姿精度±1.0°,动态航姿精度±2.5°)。软件算法的验证采用低成本MT9-B惯性测量组件的实测数据分别进行了静、动态实验。实验结果表明,所设计的软件算法可时实进行低成本陀螺的零偏估计与补偿,并能准确地进行多传感器信息融合,从而能够有效地提高系统的航姿精度。
The software algorithm of AHRS（Attitude Heading Reference System） was designed based on hardware platform and the low-cost IMU, including information processing, heading and attitude computation and information fusion. Especially, a weighted average method of multi-sensor information fusion, based on fuzzy reasoning, was adopted. Inertial data were fused and attitude was estimated by weighted averaging. The results show that the system errors are minished and accuracy is improved. At last, the test experiments, including static experiments and dynamic experiments, were made utilizing MT9-B IMU to validate the software algorithm. The results indicate that the algorithm can estimate and compensate the gyro zero. The attitude and heading precision is improved through multi-sensor information fusion.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2009年第4期379-382,387,共5页
Journal of Chinese Inertial Technology
基金
北京航空航天大学教改立项课题(400375)
关键词
捷联航姿系统
四元数
航姿解算
模糊推理
信息融合
软件设计
strapdown AHRS
quotation
heading and attitude compute
fuzzy reasoning
information fusion
soft designing
