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在机器人、小型无人自主飞行器等严格限制成本、体积、功耗的应用场合,一套合适的姿态测定系统显的尤为重要。为此,提出了一种低成本的实时姿态决定系统,该系统由传感器模块和数字信号处理器(DSP)组成。传感器模块由一个三轴的磁罗盘和一个基于MEMS技术的惯性测量单元构成,文中对系统的软硬件设计进行了详细的论述。在此嵌入式平台上面,开发了一套基于四元数和扩展卡尔曼滤波的姿态估计算法,对算法的原理进行了详细介绍。最后给出的实验结果显示此系统具有相当高的性能,姿态角误差的方差在0.02°以下。
In robots, small unmanned aerial vehicles and other strict restrictions on cost, size, power consumption applications, a suitable attitude measurement system is particularly important. To this end, a low-cost real-time attitude determination system is proposed, which consists of a sensor module and a digital signal processor (DSP). The sensor module consists of a three-axis magnetic compass and a MEMS-based inertial measurement unit. The hardware and software design of the system are discussed in detail. In this embedded platform above, a set of attitude estimation algorithm based on quaternion and extended Kalman filter is developed, and the principle of the algorithm is introduced in detail. Finally, the experimental results show that the system has a very high performance, the error of attitude angle error is below 0.02 °.