传感技术学报Issue(1)：90-95,6.DOI:10.3969/j.issn.1004-1699.2014.01.017
基于四元数EKF的低成本MEMS姿态估计算法
Attitude Estimation Algorithm for Low Cost MEMS Based on Quaternion EKF
摘要
Abstract
Since low-cost MEMS has the feature of low precision and high noise,and these error accumulated over time quickly,it can’t meet requirements of long time attitude measurement. For this, an attitude algorithm based on quaternion extended Kalman filter( EKF) is designed. The algorithm treats quaternion as EKF filter state,and update state with measured angular rate. Then,update quaternion state by gravitational and geomagnetic data for inhibiting the error divergence. In order to test the feasibility of proposed algorithm, the precision and long time work test were carried out based on turntable. The results showed that pitch and roll angle accuracy were better than 0. 1°, and heading angle accuracy was better than 0. 2°. The standard deviation of attitude error was below 0. 07 in two hours test,with no error divergence. The results verify the feasibility of proposed algorithm for long time use fully.关键词
四元数/低成本MEMS/姿态估计/EKFKey words
quaternion/low-cost MEMS/attitude estimation/EKF分类
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贾瑞才..基于四元数EKF的低成本MEMS姿态估计算法[J].传感技术学报,2014,(1):90-95,6.基金项目
国家高技术发展计划(863计划)项目(2012AA12A206) （863计划）
中国博士后基金项目(2013M541202) （2013M541202）
