Study on Information Fusion Algorithm for the Miniature AHRS

摘要：

In this paper, a low-cost micro attitude and heading measurement system using MEMS inertial sensors is researched. To overcome shortcomings such as low precision and easy divergence, a new Kalman filter algorithm based on additive quaternion is designed. The state equation is established which taking attitude quaternion error and gyro drift as state variables. The measurement equation is constructed taking the attitude quaternion among accelerometers, magnetometers and gyroscopes. The stimulation indicates that the output of the AHRS is stable and within reasonable accuracy. Thus, the particular Kalman filter based on the additive quaternion error model is a practical method for improving the attitude and heading angles estimates.

关键词： AHRS attitude estimation additive quaternion Kalman filtering

作者: Shuai Chen Yanbing Chen Cuiling Ding Yu Han Yanbing Chen

作者单位: Department of Automation Nanjing University Of Science and Technology Nanjing, China

会议类型: 国际会议

会议名称: 2012 4th International Conference on Intelligent Human-Machine Systems and Cybernetics 第4届智能人机系统与控制论国际会议 IHMSC 2012

会议地点: 南昌

会议语种:英文

页码: 114-117

在线出版日期: 2012-08-26（万方平台首次上网日期，不代表论文的发表时间）