| 基于六加速度计的陀螺仪漂移补偿算法的研究 |
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| 引用本文： | 李启光,张海龙,郝静如.基于六加速度计的陀螺仪漂移补偿算法的研究[J].传感器与微系统,2009,28(12):42-44. |
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| 作者姓名： | 李启光 张海龙 郝静如 |
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| 作者单位： | 北京信息科技大学机电工程学院,北京,100192 |
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| 基金项目： | 北京人材强教-中青年骨干教师计划资助项目 |
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| 摘 要： | 为满足机动无人机姿态测量的需求，尝试了一种新的陀螺仪漂移补偿方案：对6只加速度计按回转轴对称布局，从而解算出角速度；并利用Kalman滤波对该解算角速度与陀螺仪的输出进行融合，通过反馈校正来实现对陀螺仪漂移的补偿。仿真结果证明：该方案能有效补偿陀螺仪漂移，具有一定工程应用价值。
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| 关 键 词： | 卡尔曼滤波 陀螺仪 加速度计 漂移补偿 算法 |
Research on the algorithm of drift compensation based on gyroscope with six accelerometers |
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| LI Qi-guang,ZHANG Hai-long,HAO Jing-ru.Research on the algorithm of drift compensation based on gyroscope with six accelerometers[J].Transducer and Microsystem Technology,2009,28(12):42-44. |
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| Authors: | LI Qi-guang ZHANG Hai-long HAO Jing-ru |
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| Affiliation: | ( Department of Mechanical Engineering, Beijing Information Science ＆ Technology University, Beijing 100192, China) |
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| Abstract: | In order to meet the need of attitude measuring of UAV,a new compensation solution for gyro is attempted,six accelerometers are arranged symmetrically on the axis of rotation,then angular velocity is resolved.The angular velocity is fused with the value of gyroscope by using Kalman filter,then the gyroscope drift compensation is achieved by feedback output emendation.The simulation results show that the solution can effectively compensate drift of the gyro.It has value in engineering. |
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| Keywords: | Kalman filter gyroscope accelerometer drift compensation algorithm |
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