郭庆瑞,章 政,黄卫华,李 磊.基于 Huber 鲁棒估计的改进互补滤波姿态解算算法[J].电子测量与仪器学报,2022,36(3):157-165 |
基于 Huber 鲁棒估计的改进互补滤波姿态解算算法 |
Improved complementary filter attitude algorithmbased on Huber robust estimation |
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DOI: |
中文关键词: 站球机器人 动力学模型 姿态解算 Huber 鲁棒估计 互补滤波 |
英文关键词:Standing ball robot dynamic model attitude calculation Huber robust estimation complementary filtering |
基金项目:中文基金项目国家自然科学基金(61773298)、冶金自动化与检测技术教育部工程研究中心开放基金(MADT201603)、武汉科技大学国防预研基金项目(GF201706)资助 |
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中文摘要: |
针对站球机器人在坡面运动过程中,由于系统振荡倾向性导致的姿态估计不准确以及在估计中存在噪声等问题,设计
了一种基于 Huber 鲁棒估计的改进互补滤波姿态解算算法。 首先,对站球机器人在斜坡上进行了动力学分析和运动性能分析。
其次,利用 Huber 鲁棒估计抑制站球机器人在坡面运动过程中由于机身振荡所引入的干扰噪声,并改进互补滤波进行姿态解
算。 最后,为了减少磁力计输出不稳定对姿态解算的干扰,设计了一种数据平滑切换方法。 实物实验结果表明,设计的基于
Huber 鲁棒估计的改进互补滤波姿态解算算法相比于互补滤波算法,对俯仰角、横滚角和偏航角的估计精度分别平均提高
19. 21%、25. 48%和 36. 04%,该算法可以有效地抑制站球机器人在坡面运动过程中由于机身振荡引入的噪声,能够保证姿态解
算的准确性和实时性。 |
英文摘要: |
Aiming at the problems of inaccurate attitude estimation and noise in the estimation of a standing ball robot during slope
motion due to the system oscillation orientation, an improved complementary filtering algorithm based on Huber robust estimation is
designed. Firstly, the dynamics and kinematic performance of the standing ball robot on the slope are analyzed. Secondly, Huber robust
estimation is used to suppress the interference noise caused by the fuselage oscillation during the climbing process of the standing-ball
robot, and complementary filtering is improved to solve the attitude. Finally, in order to reduce the interference of magnetometer output
instability to attitude calculation, a data smooth switching method is designed. The experimental results show that compared with the
complementary filtering algorithm, the proposed algorithm improves the estimation accuracy of pitch Angle, roll Angle and yaw Angle by
24. 82%, 11. 73% and 35. 65%, respectively. The algorithm can effectively suppress the noise caused by the body oscillation during the
sloping motion of the standing ball robot, and can ensure the accuracy and real-time performance of the attitude solution. |
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