刘 春,何 敏,戴 雷.基于 Mahony 与改进 Kalman 融合的姿态解算方法[J].电子测量与仪器学报,2022,36(9):64-71 |
基于 Mahony 与改进 Kalman 融合的姿态解算方法 |
Attitude solution method based on Mahony and improved Kalman fusion |
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DOI: |
中文关键词: 姿态角解算 卡尔曼滤波 Mahony 滤波器 数据融合 自适应 sage 窗口 |
英文关键词:attitude angle calculation Kalman filter Mahony filter data fusion adaptive sage window |
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: |
获得精确的载体姿态信息是提高载体导航定位的关键。 针对加速运动会产生非重力加速度干扰,而传统滤波算法无法
解决其导致的精度下降的问题,提出一种基于 Mahony 和改进 Kalman 融合的姿态解算方法。 首先采用惯性测量传感器所得数
据进行 Mahony 解算,将其结果作为改进 Kalman 的量测信息;其次通过陀螺仪解算,将其结果作为改进 Kalman 的状态信息实现
姿态解算。 实验结果表明,本文所提出的方法相较于传统方法,解算精度提高一个数量级以上,能有效地抑制漂移误差高频噪
声,大幅提升了载体姿态角解算精度,且具有良好的收敛性。 |
英文摘要: |
Obtaining accurate carrier attitude information is the key to improve carrier navigation and positioning. In view of the nongravity acceleration interference caused by accelerated motion, which cannot be solved by the traditional filtering algorithm, a posture
solution method based on Mahony and improved Kalman fusion is proposed. Firstly, the data obtained by inertial measurement unit is
used for Mahony solution, and the result is used as the measurement information of improved Kalman. Secondly, through the gyroscope
solution, the result is used as the state information of the improved Kalman to realize the attitude solution. The experimental results show
that compared with the traditional method, the solution accuracy of the method proposed in this paper is improved by more than an order
of magnitude, which can effectively suppress the high-frequency noise of drift error, greatly improve the solution accuracy of carrier
attitude angle, and has good convergence. |
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