| 刘 春,陈 豪,戴 雷,葸生宝,何 敏.EWT 算法在姿态解算中的应用[J].电子测量与仪器学报,2021,35(8):220-227 |
| EWT 算法在姿态解算中的应用 |
| Application of EWT algorithm in attitude angle calculation |
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| DOI： |
| 中文关键词: 经验小波变换 小波阈值去噪 PID 互补滤波 姿态解算 四元数法 |
| 英文关键词:empirical wavelet transform wavelet threshold denoising PID complementary filtering attitude calculation quaternion method |
| 基金项目:合肥市北斗卫星导航重大应用示范项目资助 |
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| 中文摘要: |
| 针对陀螺仪存在低频噪声和漂移误差导致姿态测量精度下降的问题,提出采用经验小波变换( empirical wavelet
transform,EWT)算法融合陀螺仪、加速度计解算姿态角。 首先运用 EWT 算法对陀螺仪采集的数据进行频谱分割,得到信号的
模态分量;其次采用小波自适应软阈值去噪的方法对信号进行降噪处理并重构信号,得到处理后的陀螺仪数据;然后根据 PID
互补滤波方法,利用加速度计的数据实现对陀螺仪数据的修正;最后利用校正后的陀螺仪数据,结合龙格库塔法解算四元数,从
而通过四元数获得精确的姿态角。 实验结果表明,EWT 算法融合陀螺仪和加速度计,能够将姿态解算精度提高 50%,且降噪效
果良好,满足姿态解算准确性的要求。 |
| 英文摘要: |
| Aiming at the problem of the low-frequency noise and drift error of the gyroscope that causes the accuracy of attitude
measurement, this paper proposes to use the empirical wavelet transform (EWT) algorithm to fuse the gyroscope and accelerometer to
calculate the attitude angle. First, use the EWT algorithm to divide the spectrum of the data collected by the gyroscope to obtain the
modal components of the signal, and then use the wavelet adaptive soft threshold denoising method to denoise the signal and reconstruct
the signal to obtain the processed gyroscope data. Then according to the PID complementary filtering method, the data of the
accelerometer is used to correct the data of the gyroscope. Finally, use the corrected gyroscope data, combined with Runge-Kuta method
to calculate the quaternion, so as to obtain the precise attitude angle by using the quaternion. The experimental results show that the
EWT algorithm fused with gyroscope and accelerometer can improve the accuracy of attitude calculation by 50%, and the noise reduction
effect is good, which meets the requirements of accuracy of attitude calculation. |
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