A Micro Wireless Attitude Determination System Based on the Extended Kalman Filter

摘要：

One wireless attitude measurement system based on a MEMS multi-sensor has been developed. The data from 3-axis MEMS accelerators and 3-axis MEMS gyroscopes are used to determine the pitch angle and the roll angle by using an extended Kalman filter (EKF) equation deduced from the direction cosine matrix. The attitude angles can be resolved from the EKF algorithm based on Quaternion. The system can be used in dynamic as well as static environments by adjusting the measurement noise matrix of the extended Kalman filter equation. Results indicate that system is determined with standard deviations below 5° even in high dynamics and 1° in static state. The system can collect wireless data from over six nodes simultaneously with a sampling rate up to 100 Hz. The system node measuring 22xl5xI0mm and weighing 4.5g contains wireless communication module, 3-axis gyroscope, magnetometer and accelerometer.

关键词： Micro-Electronic Mechanical System (MEMS) Wireless Sensor Network (WSN) Micro attitude determination system

作者: Shao Peng Liu Zhao Ying Zhou Qiong Wang QiGuo ZhiGuangMa

作者单位: State Key Laboratory of Precision Measurement Technology and Instruments,Department of Precision Ins State Key Laboratory of Precision Measurement Technology and Instruments,Department of Precision Ins Beijing Aeronautical Technology Research Centre, Beijing, China

会议类型: 国际会议

会议名称: 2011 International Conference on Mechatronics and Materials Processing(2011年机电一体化与材料加工国际会议 ICMMP)

会议地点: 广州

会议语种:英文

页码: 2274-2277

在线出版日期: 2011-11-18（万方平台首次上网日期，不代表论文的发表时间）