线圈式磁传感器角速度解算方法比较.PDF

电 子 科 学 技 术 第 0 1 卷 第 0 2 期 2 0 1 4 年 9月 Vol.01 No.02 Sep.2014 电 子 科 学 技 术 Electronic Science Technology Electronic Science Technology 22 00 11 44 年年 线圈式磁传感器角速度解算方法比较 马计栋，李凯，韩焱 （中北大学电子测试技术国家重点实验室，山西太原，030051） 摘要： 当前姿态解算方法有很多大部分算法的计算过程都需要利用角速度一般获得角速度的方 法是通过陀螺仪直接输 出 但这种方法误差较大 增加后续解算负担 本文根据线圈式磁传感器采集到 的电压信号分析得到信号频率和角速度的关系通过对 电压信号的分析求得角速度文 中使用3种 解算方法分析比较得 出每种方法的优缺点 关键词： 角速度线圈式磁传感器姿态角 中图分类号：TJ765.2 文献标识码：A 文章编号：2095-8595 (2014) 02-134-04 Compared of Coil Magnetic Sensor Angular Velocity Calculating Method JidongMa, KaiLi, YanHan (National Key Laboratory of Electronic Testing Technology, North University of China, Taiyuan, 030051, China ) Abstract: There are a lot of methods to get the attitude angles. But most of them use the angular speed. Generally, the approved method is by the angular velocity gyroscope output directly, but this method’s error is bigger. Then increase subsequent computation burden. According to the signal from the coil magnetic sensor ,we can find the relationship between the frequency and angular speed. Then obtain the angular speed through the analysis of voltage signal. In this paper, we use three kinds of calculating method, analysis and comparison of the advantages and disadvantages of each method are obtained. Key words: Angular speed; Coil magnetic sensor; Attitude angle 1 引言 2 π [1] [2] [4]