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MEMS惯性传感器融合的水平姿态解算方法

Keywords: MEMS惯性传感器,信息融合,卡尔曼滤波,姿态角,姿态航向参考系统

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Abstract:

为获取惯性导航系统的姿态信息,针对MEMS惯性测量单元,设计了基于多传感器信息融合的水平姿态解算方案.在此基础上,提出了一种基于卡尔曼滤波的解决方案利用陀螺仪测得的角速度更新前一步的姿态角,利用加速度计对重力矢量的观测修正陀螺仪给出的姿态角信息.设计了水平姿态解算试验平台以验证该算法,采用姿态航向参考系统AHRS500GA提供精确姿态角对解算结果进行对照,试验结果表明在静态、动态条件下该算法均能准确地得到实时水平姿态角,其误差一般小于1°.

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