| 基于MTi—IMU微惯性航姿系统的姿态算法 |
| |
| 引用本文： | 粱云,陈洁.基于MTi—IMU微惯性航姿系统的姿态算法[J].上海电机学院学报,2013(4):198-202. |
| |
| 作者姓名： | 粱云 陈洁 |
| |
| 作者单位： | [1]上海电机学院电子信息学院,上海200240 [2]天津职业大学电子信息工程学院,天津300410 |
| |
| 摘 要： | 利用基于微机电系统陀螺、加速度计和磁强计的MTi—IMU微惯性航姿系统，设计了一种确定航向和姿态的算法。该算法利用加速度计的输出判断载体的运动状态，当载体处于非加速运动状态时，利用磁强计和加速度计的输出计算姿态角，再利用卡尔曼滤波器校正姿态误差。采集M＇I、iIMU微惯性航姿系统输出的数据进行仿真。仿真结果证明了该姿态算法的有效性。
|
| 关 键 词： | 微惯性航姿系统 姿态四元数 卡尔曼滤波 |
Algorithm for Attitude of Micro-Inertial AHRS Based on MTi-IMU |
| |
| LIANG gun,CHEN Jie.Algorithm for Attitude of Micro-Inertial AHRS Based on MTi-IMU[J].JOurnal of Shanghai Dianji University,2013(4):198-202. |
| |
| Authors: | LIANG gun CHEN Jie |
| |
| Affiliation: | 1. School of Electronics Information, Shanghai Dianji University, 2. School of Electronic and Information Engineering, Tianjin Tianjin 300410, China) Shanghai 200240, China; Vocational Institute, |
| |
| Abstract: | This paper presents a heading and attitude algorithm based on MTi IMU, which is composed of micro-electronic mechanical system（MEMS） gyroscopes, MEMS accelerometers and magnetometers. It uses the output data of accelerometers to judge the motion state of carrier, and calculates the attitude angles using the output o{ accelerometers and magnetometers, and then cor- rects the attitude errors with Kalman filtering. The algorithm is simulated using the output of MTi-IMU, showing that the algorithm is effective. |
| |
| Keywords: | micro inertial attitude heading reference system attitude quaternion Kalman filtering |
| 本文献已被 维普 等数据库收录！ |
|
