电子器件2018，Vol.41Issue(1)：126-129,4.DOI:10.3969/j.issn.1005-9490.2018.01.024
基于三子样和互补滤波的姿态测量算法研究
The Research on Attitude Measurement Algorithm Based on Complementary Filter and Tri-Sample Algorithm
摘要
Abstract
In order to solve the problem of gyro drift with time and random error produced by the surrounding environ-ment,a kind of attitude solving scheme has been design based on complementary filter,at the same time through the attitude measurement tri-sample algorithm and complementary filtering are combined to make the algorithm suitable for high dynamic and complex environment. The scheme uses quaternion to describe the attitude. Through the static experiment and swing dynamic experiment of high precision,three axis rate turntable,by comparing the high precision turntable angle value,it can be found that the complementary filter algorithm has obvious effect on the improvement of accuracy,and effective fusion of inertial measurement unit data.The use of tri-sample algorithm can meet the attitude the measurement of high dynamic environment,ensure the accurate measurement system in a variety of environments.关键词
姿态测量/三子样算法/互补滤波/四元数Key words
attitude measurement/tri-sample algorithm/complementary filter/quaternion分类
机械制造引用本文复制引用
杨雁宇,李杰,冯凯强,杜瑾,刘伟..基于三子样和互补滤波的姿态测量算法研究[J].电子器件,2018,41(1):126-129,4.基金项目
国家自然科学基金项目(51575500) （51575500）
