摘要
MEMS惯组具有体积小、价格低、易于集成等优点,已被广泛应用于各个领域。为提高MEMS姿态解算精度,采用Mahony互补滤波方法设计了MEMS惯性组件。Mahony互补滤波器将陀螺仪解算的高频姿态信号和加速度计-磁强计解算的低频姿态信号进行融合,提高测量精度。介绍了MEMS惯组硬件、软件、算法设计及无磁转台测试。无磁转台静态测量下的俯仰角精度0.51°;横滚角精度0.5°;航向角精度1.1°。
With the advantages of small size,low price and easy integration,the MEMS inertial system has been widely used in various fields.In order to improve the accuracy of attitude calculation,the Mahony complementary filtering method was used to design the inertial components of the MEMS.Mahony complementary filter fuses the high frequency attitude signal calculated by gyroscope and the low frequency attitude signal calculated by accelerometer-magnetometer to improve the measurement accuracy.The hardware,software,arithmetic design and magnetic-free turntable test of the MEMS inertial system are introduced.The accuracy of pitch angle,roll angle and heading angle is 0.51°,0.5°and 1.1°under static measurement of non-magnetic turntable.
作者
赵世亮
李仰军
ZHAO Shiliang;LI Yangjun(Science and Technology on Electronic Test&Measurement Laboratory,North University of China,Taiyuan 030051,China;School of Information and Communication Engineering,North University of China,Taiyuan 030051,China)
出处
《电子器件》
CAS
北大核心
2019年第6期1487-1491,共5页
Chinese Journal of Electron Devices
基金
装备预研基金项目(41403010305)
山西省研究生教育创新项目(2017SY066)
