摘要
基于加速度计、陀螺仪和磁强计的航姿参考系统(AHRS)可提供航向角、俯仰角和横滚角等信息,但加速度计读数中包含的载体运动加速度会影响AHRS航姿精度。针对常用的基于扩展卡尔曼滤波(EKF)的姿态估计算法,讨论了对运动加速度进行估计和补偿的两种不同方法,即内部估计法和外部估计法。仿真和实验结果表明,加速度外部估计法比内部估计法计算量小且补偿效果好,在动态环境下能获得较高的航姿精度。
Attitude and heading reference system （AHRS） based on accelerometer, gyroscope, and magnetometer can provide information of heading, pitch, and roll. But the measurement of accelerometer contains the motional acceleration of the carrier, which can affect the accuracy of AHRS. Two different approaches to estimate and compensate motional acceleration, i.e. the intrinsic andextrinsic estimation methods, are discussed for the most frequently used attitude estimator that based on extended Kalman filtering （EKF）. The results of simulation and experiments reveal that the extrinsic estimating approach for motional acceleration has lower computational burden and better performance compared to the intrinsic estimating method, and it can achieve ideal accuracy under dynamic circumstances.
出处
《传感器世界》
2016年第12期16-20,共5页
Sensor World
基金
广西自然科学基金青年基金项目(NO.2015GXNSFBA139253)
广西自动检测技术与仪器重点实验室主任基金项目(NO.YQ15107)
关键词
航姿参考系统
数据融合
姿态估计
动态加速度
attitude and heading reference system
datafusion
attitude estimation
motional acceleration
