传感技术学报2017，Vol.30Issue(2)：319-325,7.DOI:10.3969/j.issn.1004-1699.2017.02.026
基于MAEKF算法的航姿参考系统设计
The Design of AHRS Based on MAEKF
王丁伟 1祖家奎 1黄海2
作者信息
- 1. 南京航空航天大学 自动化学院,南京 210016
- 2. 中创航空技术有限公司,浙江 嘉兴 314000
- 折叠
摘要
Abstract
An attitude and heading reference system(AHRS)is designed which is composed of low cost MEMS gyroscopes,accelerometers and magnetometer and a multiplicative adaptive extended kalman filter algorithm(MAEKF)is proposed based on the gravity field and magnetic field constructed measurement vector.In order to correct attitude and heading data,the MAEKF algorithm selects quaternion error and bias of gyroscopes as state vector.Then,the accurate measurement method is adopted to provide the filterwith normalized constraint.Furthermore,this paper presents an innovation-based formula which is used to estimate measurement noise covariance matrix.Finally,simulation and flight-test show that the designed AHRS can provide accurate attitude and heading data.Compared with traditional extended kalman filter(EKF),the MAEKF algorithm effectively improves the accuracy,stability and robustness of the system.关键词
航姿参考/乘性扩展卡尔曼滤波/自适应/误差四元数Key words
attitude and heading reference system/multiplicative extended kalman filter/adaptive/quaternion error分类
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王丁伟,祖家奎,黄海..基于MAEKF算法的航姿参考系统设计[J].传感技术学报,2017,30(2):319-325,7.
