基于MEMS的车辆姿态感知系统.pdfVIP

计 算 机 系 统 应 用 2014 年 第23 卷 第8 期 基于MEMS 的车辆姿态感知系统① 任 亮, 白国柱, 周经美, 程 鑫 (长安大学 信息工程学院, 西安 710064) 摘 要: 针对MEMS 传感器精度低、误差大等缺点, 采用三轴加速度计、三轴磁强计和三轴陀螺仪进行组合姿态 测量, 使用卡尔曼滤波进行多传感器数据融合. 将旋转矢量法解算出的陀螺仪的姿态四元数作为卡尔曼滤波的 预测矢量, 将高斯牛顿法解算出的加速度计和磁强计的姿态四元数作为卡尔曼滤波的观测矢量, 建立卡尔曼传 播方程, 求出更高精度的姿态四元数, 解算出姿态角, 将 AHRS 中的姿态角与车辆的坐标系对应, 实验结果表明 车辆在不同状态下的姿态角度变化与车辆的运行状态一致. 关键词: MEMS 传感器; 卡尔曼滤波; 旋转矢量法; 高斯牛顿法; 车辆姿态 Vehicle Attitude Sensing System Based on MEMS REN Liang, BAI Guo-Zhu, ZHOU Jing-Mei, CHENG Xin (School of Information Engineering, Chang’an University, Xi’an 710064, China) Abstract: In view of the MEMS sensors’ low precision and large errors, three-axis accelerometer, three-axis magnetometer and three-axis gyroscope are combined to measure attitude. And Kalman filter are used for multi-sensor data fusion. The gyroscope’s attitude quaternion calculated by rotation vector becomes a predictive vector of Kalman filter. The accelerometer and magnetometer’s attitude quaternion calculated by Gauss-Newton method becomes a observation vector of Kalman filter. Kalman propagation equation is established to obtain more accurate attitude quaternion to calculate the attitude angle and correspond the attitude angle in AHRS with the vehicle’ attitude angle. Experimental results show that the changed attitude angle of the vehicle coincides with the different states of the vehicle state. Key words: MEMS sensors; Kalman filter; rotation vector; Gauss-Newton; vehicle attitude 1 引言 法中的单字样算法, 由于四元数法中引入不可交换性 车辆姿态是车辆控制所需的重要参数, 姿态信息 误差[3], 所以只适用于低动态载体的姿态解算. 旋转 的准确获取对车辆的控制有着至关重要的作用[1]. 航 矢量法的多字样算法能弥补四元数法的不足[4,5]. 2)基 向姿态参考系统(AHRS)能够提供载体的航向角、俯仰