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论文:2020,Vol:38,Issue(1):1-5 |
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引用本文： |
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刘明雍, 郭娇娇, 王梦凡, 牛云, 王录. 基于重力场与地磁场序贯修正的姿态解算研究[J]. 西北工业大学学报 |
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LIU Mingyong, GUO Jiaojiao, WANG Mengfan, NIU Yun, WANG Lu. Attitude Calculation Based on Sequential Correction of Gravity Field and Geomagnetic Field[J]. Northwestern polytechnical university |
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| 基于重力场与地磁场序贯修正的姿态解算研究 |
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| 刘明雍, 郭娇娇, 王梦凡, 牛云, 王录 |
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| 西北工业大学 航海学院, 陕西 西安 710072 |
| 摘要: |
| 针对无人系统姿态解算中存在陀螺仪误差发散快、磁力计易受软磁环境干扰等问题，提出了一种基于重力场与地磁场序贯修正的姿态解算方法。该方法采用陀螺仪输出构建姿态四元数的状态方程，然后依次利用加速度计与磁力计数据对四元数进行2次序贯修正，以获得姿态的准确输出。实验结果表明，相比传统的2种姿态解算算法，新算法能有效抑制陀螺仪的漂移误差，提高磁干扰环境下的姿态输出精度，其姿态角的静态精度不大于0.5°，动态精度优于2°。 |
| 关键词:
地球重力场
地磁场
序贯卡尔曼滤波算法
姿态解算
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| Attitude Calculation Based on Sequential Correction of Gravity Field and Geomagnetic Field |
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| LIU Mingyong, GUO Jiaojiao, WANG Mengfan, NIU Yun, WANG Lu |
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| School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| Aiming at the problems of gyroscope error divergence and magnetometer susceptibility to soft magnetic environment in attitude calculation of unmanned system, a method of attitude calculation based on gravity field and geomagnetic field sequential correction is proposed. In this method, gyroscope output is used to construct the state equation of attitude quaternion, and then the quaternion is sequentially corrected twice by using accelerometer and magnetometer data in order to obtain accurate attitude output. The experimental results show that, compared with the three traditional attitude calculation algorithms, this algorithm can effectively suppress the gyroscope drift error and improve the attitude output accuracy under the environment of magnetic interference. The static accuracy of the attitude angle is not greater than that of the dynamic accuracy, which meets the application requirements of the unmanned system. |
| Key words:
earth gravity field
geomagnetic field
sequential kalman filter algorithm
attitude calculation
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| 收稿日期: 2019-03-13
修回日期:
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| DOI: 10.1051/jnwpu/20203810001 |
| 基金项目: 国家自然科学基金（51679201，51879219）及水下信息与控制重点实验室开放研究项目（6142218051806）资助 |
| 通讯作者:
Email： |
| 作者简介: 刘明雍(1971-),西北工业大学教授、博士生导师,主要从事水下导航制导与控制研究。
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| 作者相关文章 |
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| 刘明雍 在本刊中的所有文章 |
| 郭娇娇 在本刊中的所有文章 |
| 王梦凡 在本刊中的所有文章 |
| 牛云 在本刊中的所有文章 |
| 王录 在本刊中的所有文章 |
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相关文献: |
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1．王录, 刘明雍, 王梦凡, 郭娇娇, 雷罡, 张小件.基于地磁场自适应修正的航姿系统姿态解算研究[J]. 西北工业大学学报, 2019,37(2): 225-231 |
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