摘要
为了满足航姿参考系统(AHRS)小型化、低成本工程实现的需要,基于微惯性测量单元(MIMU)和微磁强计,提出了一种在线实时定姿方法。该方法首先采用四元数法描述系统模型,接着利用优化的梯度下降算法对加速度计和磁强计测得的数据进行处理,然后采用快速小波变换阈值去噪方法对陀螺仪输出信号进行预处理,最后通过互补滤波器将以上得到的结果进行融合,提高了姿态解算精度。在线测试和Kalman滤波表明,在线定姿法实现简单、参数调整方便、姿态跟踪误差小,便于在嵌入式微处理器中实现,具有较强的实用性。
In accordance with the requirements of attitude and heading reference system （A HR S）,e.g.,miniaturization,and low cost engineering implementation,the online real time attitude determination method is proposed based on the combination of miniature inertial measurement unit （MIMU） and magnetometer.In the system,the system model is described by quaternion method,and the data measured by accelerometer and magnetometer are processed by adopting optimized gradient descent algorithm,the output signals of gyroscope is preprocessed by using fast speed wavelet threshold denoising method,and the results obtained above are fused through complementary filter for enhancing the accuracy of attitude solution.Online tests and Kalman filtering algorithm indicate that this method is simple and ease to parameter adjustment,the attitude tracking error is small,it is suitable to implement online real time attitude determination in embedded microprocessor with stronger practicability.
出处
《自动化仪表》
CAS
北大核心
2013年第11期21-25,共5页
Process Automation Instrumentation
关键词
微惯性测量单元
磁强计
滤波器
梯度下降法
小波变换
数据处理
Miniature inertial measurement unit （MIMU）
Magnetometer
Filter
Gradient descent algorithm
Wavelet transform
Data processing
