摘要
给出一种能够模拟陀螺仪实际工作条件的标定方法.将陀螺仪安装在飞行器模型内部,飞行器模型悬挂在2个平行屏幕之间并且在外力的推动下作无规则运动,在飞行器模型上安装2根双向准直激光束,激光束在屏幕上生成4个指示光斑,利用双目视觉测量技术测量指示光斑在三维空间内的坐标,然后借助于欧拉角算法确定飞行器模型的姿态,最后结合陀螺仪的输出信号对陀螺仪进行标定.对飞行器模型姿态的测量误差作了详细的分析,结果显示该方法可以精确测量飞行器模型的姿态.
In this paper a new method is presented that can be used to simulate real working conditions of gyro sensor. The gyro sensor was mounted inside an aircraft model which was suspended between two parallel screens. Driven by external forces, the aircraft model flew randomly. Two collimated laser beams, mounted on the outer surface of the aircraft model produced four laser spots on the screens. The 3D coordinates of the laser spots were measured by binocular stereo vision sensor and the attitude of the aircraft model were determined using Euler＇s algorithm. The final step was to calibrate the gyro sensor by comparing its output signal to the actual attitude of the aircraft model. The accuracy of attitude determination was analyzed and the results showed that the attitude of the aircraft model can be determined accurately using the method proposed in this paper.
出处
《哈尔滨工程大学学报》
EI
CAS
CSCD
北大核心
2007年第4期407-412,共6页
Journal of Harbin Engineering University
基金
国防工业科学技术委员会基础研究基金资助项目(9.5.1/A966000-15)
关键词
陀螺仪
标定
姿态测量
双目视觉测量
欧拉角算法
gyro sensor
calibration
attitude determination
double view metrology
Euler algorithm
