基于三子样和互补滤波的姿态测量算法研究

为了解决陀螺随时间的漂移以及周围环境产生的随机误差的问题，设计了一种基于互补滤波的姿态求解方案，同时通过将三子样算法和互补滤波结合起来使该算法适用于高动态等复杂环境下的姿态测量。该方案采用四元数法对姿态进行描述，经过高精度三轴温控速率转台上的静态实验以及摇摆动态实验，通过对比高精度转台角度值，可以发现互补滤波算法对于精度的提高有明显的效果，有效的将惯性测量单元的数据进行融合。同时由于采用了三子样算法可以满足高动态环境下的姿态测量，确保了系统在各种环境下精确测量。

The research on attitude measurement algorithm based on complementary filter and tri-sample algorithm

In order to solve the problem of gyro drift with time and random error produced by the surrounding environment, design a kind of attitude solving scheme based on complementary filter, at the same time through the attitude measurement tri-sample algorithm and complementary filtering are combined to make the algorithm suitable for high dynamic and complex environment. The scheme uses quaternion to describe the attitude, Through the static experiment and swing dynamic experiment of high precision three axis rate turntable, by comparing the high precision turntable angle value, can be found in the complementary filter algorithm has obvious effect on the improvement of accuracy, effective fusion of inertial measurement unit data. Due to the use of tri-sample algorithm can meet the attitude the measurement of high dynamic environment, ensure the accurate measurement system in a variety of environments.