传感技术学报2016，Vol.29Issue(4)：531-535,5.DOI:10.3969/j.issn.1004-1699.2016.04.012
基于卡尔曼滤波的航姿参考系统设计
Design of AHRS Based on Kalman Filter
摘要
Abstract
A new attitude detecting system based on Kalman filter is designed for the problem of low precision of atti⁃tude angle in the tradition Attitude and Heading Reference System(AHRS). Three-axis magnetic sensor,three-axis ac⁃celerometer and three-axis gyroscope are integrated in the system. An attitude estimation method based on quaternion is adopted to describe the attitude of carrier. Attitude quaternion is calculated by the gyroscope,and the data of accel⁃erometer and magnetic are fused by Kalman filter to fix quaternion and improve the accuracy of attitude. The experi⁃mental data shown that the system could compensate the drift error of gyroscope better,the root mean square error of both three angles wrer better than 0.25°,and the ability of noise reduction was better than the tradition AHRS.关键词
传感器/航姿参考系统/卡尔曼滤波/四元数/陀螺仪/加速度计/磁传感器Key words
sensor/ahrs/kalman filter/quaternion/gyroscope/accelerometer/magnetic分类
信息技术与安全科学引用本文复制引用
吴涛,白茹,朱礼尧,钱正洪..基于卡尔曼滤波的航姿参考系统设计[J].传感技术学报,2016,29(4):531-535,5.基金项目
浙江省科学技术厅重大科技专项重点工业项目（2011C11047）；浙江省科学技术厅公益项目 （）
