|
|
- 2016
一种改进的空间全方位旋转角度测量方法
|
Abstract:
针对采用双轴倾角传感器实现空间旋转角度测量的解析方法难以测量全方位旋转角度的问题,提出了一种改进的空间全方位旋转角度测量方法(IODSRA)。该方法在倾角传感器测量轴绕刚体旋转轴旋转的空间模型基础上,增加了一个沿原传感器法向量方向的单轴倾角传感器,以提高角度测量的灵敏度,改进了求解传感器空间位置参数的方法,获得空间位置参数;然后通过多个旋转方程的优化,得出最佳的空间全方位旋转角度。仿真和实验结果均表明,与其他实现空间旋转角度测量方法相比,IODSRA方法可实现在±180°范围内测量,其检测准确度达到0.2°的测量要求。
An improved method (IODSRA) to measure omni？？direstional spatial rotation angles is proposed to focus on the problem, that the analytical approach for measurement of spatial angle with dual？？axis inclination sensor can’t measure the omni？？directional rotation angle. It is based on the space model that measurement axis of inclination sensor rotates around measurement axis of rigid body, and the method improves the sensitivity of measuring angles and obtains spatial position parameters by applying a single axis inclinometer in the direction of normal vector of existed sensor. The optimal rotational angle measurement is acquired by taking full advantage of several rotation equations. Experimental results show that the IODSRA method achieves the measurement of the omni？？directional spatial rotation angle while other algorithms are unable, and that detection accuracy can be controlled under 0.2° and meets requirements
| [1] | ［1］GULMAMMADOV F. Analysis, modeling and compensation of bias drift in MEMS inertial sensors ［C］∥Proceedings of 4th International Conference on Recent Advances in Space Technologies 2009. Piscataway, NJ, USA: IEEE, 2009: 591？？596. |
| [2] | ［6］刘诗斌. 微型智能磁航向系统研究 ［D］. 西安: 西北工业大学, 2001: 15？？32. |
| [3] | ［7］LEAVITT J, SIDERRIS A, BOBROW J E. High bandwidth tilt measurement using low？？cost sensors ［J］. IEEE/ASME Transactions on Mechatronics, 2006, 11(3): 320？？326. |
| [4] | JIANG Xianzhi. A study on the error analysis and calibration technique of digital compass ［J］. Modern Radar, 2005, 27(6): 39？？44. |
| [5] | ［11］曹建安, 吴昊, 王亮, 等, 一种基于双轴倾角传感器的空间旋转角度测量方法: 201210279400？？1 ［P］. 2012？？08？？01. |
| [6] | ［12］吴昊. 基于倾角传感器的空间旋转角度测量方法及其工程应用 ［D］. 西安: 西安交通大学, 2012. |
| [7] | ［2］成宇翔, 张卫平, 陈文元, 等. MEMS微陀螺仪研究进展 ［J］. 微纳电子技术, 2011, 48(5): 277？？285. |
| [8] | CHENG Yuxiang, ZHANG Weiping, CHEN Wenyuan, et al. Research development of MEMS micro？？gyroscopes ［J］. Micronanoelectronic Technology, 2011, 48(5): 277？？285. |
| [9] | ［3］张海鹏, 房建成. MEMS陀螺仪短时漂移特性实验研究 ［J］. 中国惯性技术学报, 2007, 15(1): 100？？104. |
| [10] | ZHANG Haipeng, FANG Jiancheng. Short？？time drift characteristic of MEMS gyroscope ［J］. Journal of Chinese Inertial Technology, 2007, 15(1): 100？？104. |
| [11] | ［8］BAI Yongqiang, HAN Junhui, QI Xianghua. Data processing algorithm of MEMS inclinometer based on improved Sage？？Husa adaptive Kalman filter ［C］∥Proceedings of the 31st Chinese Control Conference. Piscataway, NJ, USA: IEEE, 2012: 3702？？3707. |
| [12] | ［4］晁敏, 蒋东方, 文彩虹. 磁罗盘误差分析与校准 ［J］. 传感技术学报, 2010, 23(4): 525？？532. |
| [13] | CHAO Min, JIANG Dongfang, WEN Caihong. Error analysis and calibration of magnetic compass ［J］. Chinese Journal of Sensors and Actuators, 2010, 23(4): 525？？532. |
| [14] | ［5］蒋贤志. 数字电子罗盘误差分析及校正技术研究 ［J］. 现代雷达, 2005, 27(6): 39？？44. |
| [15] | ［9］QIAN Jiye, FANG Bin, YANG Weibin, et al. Accurate tilt sensing with linear model ［J］. IEEE Sensors Journal, 2011, 11(10): 2301？？2309. |
| [16] | ［10］曹建安, 张乐平, 吴昊, 等. 采用倾角传感器实现空间旋转角度测量的解析方法研究 ［J］. 西安交通大学学报, 2013, 47(10): 109？？114. |
| [17] | CAO Jian’an, ZHANG Leping, WU Hao, et al. Analytical approach for measurement of spatial angle with inclination senor ［J］. Journal of Xi’an Jiaotong University, 2013, 47(10): 109？？114. |
