摘要
提出利用多个MEMS传感器组合定姿的方法,该方法利用加速度计的输出判断载体运动状态,采用EKF滤波算法对其状态进行估计,并在滤波算法中应用加速度计和磁强计组合计算所得的姿态信息作为对陀螺漂移的补偿,最后通过数据融合修正其姿态角。
A new method for attitude measurement based on multiple MEMS sensors is proposed. In the method, the output of accelerometer was used to judge the motion state of the carrier, and Extended Kalman Filter （EKF） was used for estimating its status. The gyroscopic drift was compensated by the attitude information obtained through combined calculation of the accelerometer and magnetometer in the filtering algorithm. At last, the attitude angle was amended by using data fusion algorithm.
出处
《电光与控制》
北大核心
2010年第3期68-70,97,共4页
Electronics Optics & Control
基金
西门子中国研究院资助项目(40001014200611)
