摘要
本文分析了人形机器人中用于导航的电子罗盘的航姿测量精度不高的原因,提出了一种新的电子罗盘航姿估计算法,即将PF(粒子滤波)应用于电子罗盘的航姿估计过程中。构建了电子罗盘的系统模型,从状态的先验分布中抽取若干粒子作为初始粒子集,并初始化粒子的权值,根据系统模型进行状态预测,用观测值来更新状态,最后用一系列粒子的加权和来表示状态的估计值。实验证明,该方法可以提高电子罗盘航姿估计的精度。
The reasons for low accuracy of heading and attitude of the electronic compass using for navigation in humanoid robot were analysed.This paper presented a new heading and attiteude estimation algorithm of the eletronic compass based on particle filter.Electronic compass system model was constructed.Some particles were sampled from the prior distribution of the system state as the initial particle sets,and the weights of the particles were initialized.The systerm state was forecasted according to the system state equation,and the system state was updated according to the measure values.Finally,the estimation of the system state was the sum of the weighted particles.Experiment result shows that this heading and attitude algorithm can improve the accuracy of the heading and attitude estimation algorithm.
出处
《微计算机信息》
2010年第32期138-140,共3页
Control & Automation
基金
基金申请人:薛方正
基金颁发部门:国家自然科学基金委
项目名称:仿人机器人大范围的快速步行关键技术研究(60905053)
关键词
PF
电子罗盘
航姿
误差分析
particle filter
electronic compass
heading and attitude
error analysis
