Study on attitude and heading measurement and error compensation method

WANG Chang-gang; LIU Qiang; HAN Yu

doi:10.13873/J.1000-9787(2014)11-0037-04

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Study on attitude and heading measurement and error compensation method

更新时间：2025-09-11

- Study on attitude and heading measurement and error compensation method
- Vol. 33, Issue 11, Pages: 37-40(2014)
- 作者机构：
  
  江苏自动化研究所
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2014)11-0037-04
  CLC： V241;V279
- Published：2014
- 稿件说明：
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[1]王昌刚,刘强,韩瑜.姿态航向测量与误差补偿方法研究[J].传感器与微系统,2014,33(11):37-40.

WANG Chang-gang, LIU Qiang, HAN Yu. Study on attitude and heading measurement and error compensation method[J]. 2014, 33(11): 37-40.
[1]王昌刚,刘强,韩瑜.姿态航向测量与误差补偿方法研究[J].传感器与微系统,2014,33(11):37-40. DOI： 10.13873/J.1000-9787(2014)11-0037-04.

WANG Chang-gang, LIU Qiang, HAN Yu. Study on attitude and heading measurement and error compensation method[J]. 2014, 33(11): 37-40. DOI： 10.13873/J.1000-9787(2014)11-0037-04.

摘要

设计了一种基于MEMS陀螺仪、加速度计、磁传感器的小型姿态航向参考系统;以四元数和角速率偏差为状态矢量

磁场强度和加速度计信息为量测矢量

构建基于Kalman的四元数姿态航向解算方法;通过调整测量噪声方差矩阵

解决动态过程中由于运动加速度造成的姿态角误差;采用陀螺仪误差建模和磁航向罗差补偿技术

进一步提高了系统测量精度。根据飞行数据分析

姿态航向参考系统具有较高测量精度和较好的稳定性、动态性

姿态角均方根误差小于1.5°

航向角均方根误差小于3°。

Abstract

A kind of small AHRS is designed based on MEMS gyroscope

accelerometer and magnetic sensor;Kalman-based quaternion attitude and heading resolving method is built using quaternion and angular rate bias as state vector

magnetic field intensity and acceleration information as measurement vector; attitude angel error caused by dynamic acceleration is solved by adjusting measurement noise covariance matrix; gyroscope error modeling and magnetic heading compass error compensation technology are used to further improve measurement precision of system. AHRS has high precision and good stability and dynamics

RMSE of attitude angle is less than1. 5°

and heading angle is less than 3°.

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references

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