| 摘要:针对运动状态下探测器姿态解算精度不高的问题，提出了一种基于加速度分离算法的姿态测量方法。首先，分别利用椭球拟合法和建模法对加速度计、陀螺仪进行误差补偿，保证了MEMS传感器初始测量数据的精度。其次，提出了一种分离运动加速度的方法，以消除运动对加速度计测量数据的影响。最后，结合加速度分离算法实现了基于卡尔曼滤波器的高精度姿态解算。模拟实验结果表明，该姿态测量方法具有较高的精度和抗干扰能力，在变加速运动时姿态误差减小了70%以上，满足了设计的要求。 |
| 关键词: 姿态测量 MEMS传感器 误差补偿 加速度分离 卡尔曼滤波 |
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| Research on Attitude Measurement Method Based on Acceleration Separation Algorithm |
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| Abstract:Considering the low accuracy of detector attitude calculation in motion state, an attitude measurement method based on acceleration separation algorithm was designed. Firstly, the ellipsoid fitting method and modeling method were used to compensate the accelerometer and gyroscope, which ensured the accuracy of the initial measurement data which obtained from MEMS sensor. Secondly, a separating the motion acceleration method was proposed to eliminate the effect of motion on the accelerometer measurement data. Finally, the high-precision attitude calculation based on Kalman filter is realized with the acceleration separation algorithm. Simulation results show that the attitude measurement method has high accuracy and anti-jamming capability. In changing acceleration state, the attitude error decreases by more than 70%, which meets the design requirements. |
| Key words: attitude measurement MEMS sensors error compensate acceleration separation Kalman filter |