Research on measurement system of vehicle motion attitude based on IMEMS sensor

LIU Jun; HE Guo-guo; YUE Xing-lian; LUO Shi; WU Shuo-kai

doi:10.13873/j.1000-97872009.11.025

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Research on measurement system of vehicle motion attitude based on IMEMS sensor

更新时间：2025-09-11

- Research on measurement system of vehicle motion attitude based on IMEMS sensor
- Vol. 28, Issue 11, Pages: 12-15(2009)
- 作者机构：
  
  江苏大学汽车与交通工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.11.025
  CLC： TP274.5
- Published：2009
- 稿件说明：
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[1]刘军,何国国,岳兴连,罗石,吴硕开.基于IMEMS传感器的汽车运动姿态测量系统研究[J].传感器与微系统,2009,28(11):12-15.

LIU Jun, HE Guo-guo, YUE Xing-lian, et al. Research on measurement system of vehicle motion attitude based on IMEMS sensor[J]. 2009, 28(11): 12-15.
[1]刘军,何国国,岳兴连,罗石,吴硕开.基于IMEMS传感器的汽车运动姿态测量系统研究[J].传感器与微系统,2009,28(11):12-15. DOI： 10.13873/j.1000-97872009.11.025.

LIU Jun, HE Guo-guo, YUE Xing-lian, et al. Research on measurement system of vehicle motion attitude based on IMEMS sensor[J]. 2009, 28(11): 12-15. DOI： 10.13873/j.1000-97872009.11.025.

摘要

针对传统的采用机械转子陀螺构成机械平台来测量汽车姿态方法的不足

研究开发了基于集成微机电系统（IMEMS）传感器的捷联式汽车运动姿态测量系统。该系统采用四元数法作为汽车运动姿态的解算方法

并由Kalm an滤波器完成对姿态角四元数估计误差和加速度计及角速度陀螺信号的融合

得到汽车姿态角的最优估计值

阐述了该系统硬件构成和软件设计

并通过汽车道路试验对系统的可行性进行了验证。结果表明:此测量系统能够满足汽车运动姿态测量的精度要求

是确实可行的测量系统。

Abstract

In order to overcome the shortcomings of traditional vehicle attitude measurement methods which realize on mechanical desktop consist of mechanical rotor gyros

a strap-down attitude measurement system based on IMEMS sensors is studied.It adopts quaternion method for attitude algorithm and uses Kalman filter for data fusion of estimated errors of attitude angle quaternion as well as the signals of gyros and accelerations to get the optimal estimation of attitude angles.The configuration and software design of system are discussed.The feasibility of system is proved by vehicle motion tests.The result shows that it can meet the requirement of accuracy of vehicle motion attitude measurement.

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references

基于MEMS技术的微惯性传感器及在汽车上的应用 [J]. 闫冬,管欣,高振海. 汽车技术 . 2006(02)

微型惯性测量组合姿态测试系统 [J]. 邓海棠,王凤梅. 传感器世界 . 2004(09)

基于MEMS器件的捷联姿态测量系统技术研究 [D]. 刘付强. 哈尔滨工程大学 2007

Kalman滤波理论及其在导航系统中的应用[M]. 科学出版社 , 付梦印等编著, 2003

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