Algorithm and simulation of MEMS attitude estimation system

WEI Zhen-nan; YI Guo-xing; XU Ze-yuan

doi:10.13873/j.1000-9787(2017)05-0149-04

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Algorithm and simulation of MEMS attitude estimation system

更新时间：2025-09-11

- Algorithm and simulation of MEMS attitude estimation system
- Vol. 36, Issue 5, Pages: 149-152+160(2017)
- 作者机构：
  
  哈尔滨工业大学航天学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-9787(2017)05-0149-04
  CLC： TH-39
- Published：2017
- 稿件说明：
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[1]魏振楠,伊国兴,徐泽远.微机电系统姿态估计系统算法与仿真[J].传感器与微系统,2017,36(05):149-152+160.

WEI Zhen-nan, YI Guo-xing, XU Ze-yuan. Algorithm and simulation of MEMS attitude estimation system[J]. 2017, 36(5): 149-152+160.
[1]魏振楠,伊国兴,徐泽远.微机电系统姿态估计系统算法与仿真[J].传感器与微系统,2017,36(05):149-152+160. DOI： 10.13873/j.1000-9787(2017)05-0149-04.

WEI Zhen-nan, YI Guo-xing, XU Ze-yuan. Algorithm and simulation of MEMS attitude estimation system[J]. 2017, 36(5): 149-152+160. DOI： 10.13873/j.1000-9787(2017)05-0149-04.

摘要

结合陀螺仪、加速度计误差模型

实现了以微机电系统（MEMS）陀螺仪与MEMS加速度计为基础的姿态估计硬件仿真系统

可用于模拟任意噪声强度和安装偏差下三轴捷联惯导系统（INS）

即按照给定运动曲线仿真输出陀螺仪与加速度计数据

为设计姿态估计算法提供仿真验证平台。同时

以姿态四元数为状态变量

载体俯仰角与横滚角为观测值设计了基于扩展卡尔曼滤波器（EKF）的姿态估计算法

俯仰角估计误差小于0.04°

横滚角估计误差小于0.05°

偏航角漂移速度0.01（°）/s。

Abstract

An attitude estimation hardware simulation system is realized by using MEMS gyroscopes and MEMS accelerometers

which is based on error model of gyroscope and accelerometer. The system can be used to simulate three-axis strapdown inertial navigation system（ INS） under the situation of any noise intensity and installation error

that is to output data of gyroscopes and accelerometers according to given motion curve

in order to supply simulation verification platform for designing attitude estimation algorithm. Meanwhile

an attitude estimation algorithm which is based on extended Kalman filter is designed. In the algorithm

the attitude quaternion is chosen as state variable

the pitching angle and roll angle are chosen as observed variables. As a result

estimation error of pitching angle is less than 0. 04°

estimation error of roll angle is less than 0. 05°

and the drift rate of yaw angle is0. 01（ °）/s.

关键词

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references

一种基于MEMS传感器的无人飞艇航姿测量系统 [J]. 胡少兴,刘东昌,张爱武,朱煜坤. 传感器与微系统 . 2014(03)

基于STM32的无人机姿态测量系统设计 [J]. 刘辉邦,褚金奎,支炜,李晓雨. 传感器与微系统 . 2013(08)

基于微机械惯性器件和磁强计的姿态航向系统 [J]. 黄旭,王常虹. 传感器技术 . 2005(08)

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