双轴倾角传感器姿态角测量的建模与标定

张起朋; 李醒飞; 谭文斌; 陈诚

doi:10.13433/j.cnki.1003-8728.2016.0718

双轴倾角传感器姿态角测量的建模与标定

doi: 10.13433/j.cnki.1003-8728.2016.0718

1.
天津大学精密测试技术及仪器国家重点实验室, 天津 300072;
2.
天津商业大学机械工程学院, 天津 300134

详细信息

作者简介:
张起朋(1986-),硕士研究生,研究方向为传感技术、精密测试技术及仪器的研究,zqp2010@sina.com

通讯作者:
李醒飞(联系人),教授,博士生导师,lixf@tju.edu.cn

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- 文章访问数: 483
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- PDF下载量: 19
- 被引次数: 0
出版历程
- 收稿日期: 2014-06-15
- 刊出日期: 2016-07-05

Modeling and Calibration of Dual-axis Tilt Sensor for Measuring Attitude Angles

1.
State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China;
2.
School of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300134, China

摘要

摘要: 根据双轴倾角传感器的测量原理，建立了姿态角的测量模型。针对该测量模型，分别研究了无误差和误差下的姿态角的求解模型，并通过坐标变换算法，建立了含误差项的姿态角的求解模型。针对该模型的误差项，讨论了双轴倾角传感器姿态角测量的标定算法。在±4°范围内，通过实验对该标定算法进行了验证。实验结果表明，经修正，双轴倾角传感器的双轴标定精度由修正前的0.118°提高到0.012 46°，该标定算法使双轴倾角传感器的标定误差减小了一个数量级。该标定算法简单、快速，可以满足诸多场合对于姿态角测量的0.03°标定精度要求。
- 双轴倾角传感器 /
- 姿态角 /
- 建模 /
- 坐标变换 /
- 标定
Abstract: A measuring model of attitude angle is established based on the measuring principle of the dual-axis tilt sensor. Then, considering the measuring model above, a solving model without error and one with error for attitude angle measurement are established. With the method of coordinate transforms, an solving model with the error term for the attitude angle is established; aiming to the error term in the model above, a calibration algorithm of dual-axis sensor for measuring attitude angle model is presented. Within the range of ±4°, this calibration algorithm is verified by experiments. The experimental results show that, the dual-axis tilt sensor's biaxial calibration accuracy is improved to 0.012 46° from 0.118° before amendment, which reflects that the calibration method can reduce the calibration error in aspect of an order of magnitude. The calibration algorithm is fast and simple, and also can meet the requirements of the accuracy 0.03° for the attitude angle measurement in many applications.
- attitude angle /
- calibration /
- coordinate transforms /
- dual-axis tilt sensor /
- models

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参考文献(10)

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