摘要
文章针对车体的频繁加减速所带来的平动加速度对姿态融合的干扰问题,提出了一种对干扰加速度的门限检测和动态隔离算法。首先,搭建了基于MEMS惯性器件的实验平台,其中包括STM32处理器和三轴陀螺仪、加速度计和电磁罗盘等。然后,实现了多轴数据处理和系统状态方程的建立,并采用卡尔曼滤波融合算法,实现了对载体姿态的解算。通过分析干扰加速度对系统输出的影响,根据车体加减速过程中Z轴加速度不敏感的特性,利用输出融合结果反馈的方式,设计了相对加加速度的计算方法,从而实现对干扰的隔离。实验结果表明:该方法能够获得较高的灵敏度,而常规的加速度归一化门限处理方法要延迟1～2个周期。在12次的检测率分析中,二者的测试结果是12:7,证实了该方法的有效性和性能优势。该方法对低成本车载惯导具有一定的参考价值,可以提高系统的融合姿态输出精度。
Aiming at the interference of translational acceleration caused by frequent acceleration and deceleration of the vehicle on attitude fusion,a threshold detection and dynamic isolation algorithm for interference acceleration is proposed.First of all,an experimental platform based on MEMS inertial devices is built,which including STM32 processor and three-axis gyroscope,three-axis accelerometer and three-axis electromagnetic compass.And then,the multi-axis data are processed and the system state equations are established,using the Kalman filter fusion algorithm to solve the vehicle attitude.By analyzing the influence of disturbance acceleration on the system output,vehicles have the characteristic of insensitive Z-axis acceleration during acceleration and deceleration.By means of output feedback,a calculation method of relative acceleration is designed to isolate interference. The experimental results show that this method has high sensitivity,but the conventional acceleration normalization threshold processing method needs to be delayed by 1 or 2 cycles.In the analysis of the detection rate of 12 times,the two are the test results of 12:7,verifying the effectiveness and performance advantages of this method.This method has a certain reference value for low-cost vehicle IMU and can improve the fusion attitude output accuracy of the system.
作者
卢光磊
张明社
LU Guanglei;ZHANG Mingshe(The 39th Research Institute of China Electronic Technology Corporation,Xi’an 710065,China)
出处
《空间电子技术》
2019年第2期83-87,共5页
Space Electronic Technology
关键词
平动加速度
门限
卡尔曼滤波
反馈
Translational acceleration
Threshold
Kalman filter
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