传感技术学报2016，Vol.29Issue(12)：1853-1857,5.DOI:10.3969/j.issn.1004-1699.2016.12.012
基于自适应滤波的MEMS姿态确定方法
Research on the Attitude Determination of MEMS Based on Adaptive Filter
摘要
Abstract
In view of the demand for attitude measurement system in the consumer electronics devices,a novel atti?tude determination method based on MEMS accelerometer,MEMS gyroscope and MEMS magnetometer is put for?ward in this paper. Because the statistics information of the measurement noise of the inertial sensors in the actual system is unknown,a matrix Kalman filtering for attitude determination algorithm based on the vector observer is in?troduced. In addition,the adaptive filtering method is designed on the basis of the residual matching technology. With this method,the measurement noise can be estimated,and the difficulty of obtaining the accurate statistics of measurement noise for the traditional matrix Kalman filtering is overcome. Finally,the simulation test is designed, and the results show that the rotation error angle is 0.6091°,and the standard deviation is 0.3009°,which indicates that the measurement noise of the sensors can be determinated effectively,and the adaptive filter is more accurate and more stable by comparing with the traditional matrix Kalman filtering.关键词
姿态确定/自适应滤波/矩阵Kalman滤波/向量观测器Key words
MEMS/attitude determination/adaptive filter/matrix Kalman filter/observation vector分类
信息技术与安全科学引用本文复制引用
李鑫,孟翔飞,戴梅,顾启民..基于自适应滤波的MEMS姿态确定方法[J].传感技术学报,2016,29(12):1853-1857,5.
