摘要
以农业车辆或者采矿装备等移动目标为对象,以实现移动目标在未知环境中自主运动为目的,进行了基于三轴加速度和陀螺仪的移动目标位姿同步跟踪研究。首先建立移动目标运动学模型,探寻姿态角与位置解算的耦合规律,利用加速度和角加速度进行位姿导航参数计算,并在搭建的定位原型系统上对所提定位定姿算法进行验证。实验结果表明,静态测试时横滚角φ、俯仰角β及偏航角θ的误差分别为0.33°、0.26°和0.38°,动态测试时姿态角跟踪误差分别为1.01°、0.64°和0.83°;静态测试时三维加速度下的平均位置误差分别为0.76、0.52和0.56 m,利用零速校正消除了运行时的累计误差,能够对移动目标运动轨迹进行有效跟踪。
Taking mobile targets,such as agricultural vehicles and mining equipments,as the research object,the position and pose tracking technology is proposed under three-axis accelerometer and threeaxis gyroscope aimed at realizing autonomic movement in unknown environment.Firstly,dynamic characteristics and kinematic model are built.Secondly,using three-axis accelerometer,the position and pose of mobile target are resolved based on the multi-parameters.Then,a prototype system for verifying the proposed position and pose method is developed.The estimation results indicate that the mean errors of roll,pitch and yaw are 0.33°,0.26° and 0.38° respectively under static state,while the dynamic errors of pose detection are 1.01°,0.64° and 0.83° respectively.The mean errors of position estimation are 0.76,0.52 and 0.56 m respectively under static state.Meanwhile,the accumulation error caused by three-axis accelerometer can be eliminated under the aid of zero-velocity update,which can effectively track the trajectory.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2014年第10期47-52,共6页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家高技术研究发展计划(863计划)资助项目(2013AA06A411)
江苏高校优势学科建设工程资助项目
江苏省研究生培养创新工程资助项目(KYLX_1374)
关键词
移动目标
定位定姿
自主跟踪
精度分析
Mobile target Position and pose Self-tracking technology Accuracy analysis
