电子测量与仪器学报

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

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

作者	单位
郭庆瑞	1. 武汉科技大学机器人与智能系统研究院
章政	1. 武汉科技大学机器人与智能系统研究院，2. 武汉科技大学信息科学与工程学院
黄卫华	1. 武汉科技大学机器人与智能系统研究院，2. 武汉科技大学信息科学与工程学院
李磊	1. 武汉科技大学机器人与智能系统研究院

Author	Institution
Guo Qingrui	1. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology
Zhang Zheng	1. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology,2. School of Information Science and Engineering, Wuhan University of Science and Technology
Huang Weihua	1. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology,2. School of Information Science and Engineering, Wuhan University of Science and Technology
Li Lei	1. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology

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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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