摘要
针对航姿测量的需求,提出了一种基于四元数扩展卡尔曼滤波的航姿参考系统(AHRS)设计方案。系统采用低成本微机电系统(MEMS)三轴陀螺仪、加速度计和磁力计,利用基于四元数的扩展卡尔曼滤波方法对传感器数据进行融合,得出三轴姿态角。为了仅根据磁偏角确定磁力计量测方程,避免磁倾角影响,提出了利用加速度计对磁力计数据进行正交化处理的方法。为了减小加速度计和磁力计测量误差,利用基于最小二乘法的椭球拟合校正方法对测量数据进行校正。实物试验表明:传感器校正效果较好,系统具有相对较高的测量精度和较好的动态特性。
Aiming at the need of attitude and heading measurement,a design scheme of attitude and heading reference system( AHRS) based on quaternion extended Kalman filtering( EKF) is proposed. This AHRS is consist of low-cost micro-electro-mechanical system( MEMS) 3-axis gyro,accelerometer and magnetometer,and it uses extended Kalman filtering based on quaternion to fuse sensor data so as to get 3-axis attitude angles. In order to determine magnetometer measurement equation only from magnetic declination and avoid the influence of magnetic inclination,a method using accelerometer to orthogonalize magnetometer data is proposed. In order to reduce measurement error of accelerometer and magnetometer,an ellipsoid fitting method based on least square method is used for correcting of measurement data is adopted. Physical tests show that calibration effect of sensor is good,and this AHRS has relatively high measurement precision and good dynamic characteristics.
作者
卢毅
LU Yi(School of Astronautics,Beihang University,Beijing 100191,China)
出处
《传感器与微系统》
CSCD
2019年第4期117-120,124,共5页
Transducer and Microsystem Technologies
关键词
航姿参考系统
四元数
扩展卡尔曼滤波
椭球拟合
attitude and heading reference system(AHRS)
quaternion
extended Kalman filtering(EKF)
ellipsoid fitting
