Research on the algorithm of drift compensation based on gyroscope with six accelerometers

LI Qi-guang; ZHANG Hai-long; HAO Jing-ru

doi:10.13873/j.1000-97872009.12.010

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Research on the algorithm of drift compensation based on gyroscope with six accelerometers

更新时间：2025-09-11

- Research on the algorithm of drift compensation based on gyroscope with six accelerometers
- Vol. 28, Issue 12, Pages: 42-44(2009)
- 作者机构：
  
  北京信息科技大学机电工程学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872009.12.010
  CLC： V241.5
- Published：2009
- 稿件说明：
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[1]李启光,张海龙,郝静如.基于六加速度计的陀螺仪漂移补偿算法的研究[J].传感器与微系统,2009,28(12):42-44.

LI Qi-guang, ZHANG Hai-long, HAO Jing-ru. Research on the algorithm of drift compensation based on gyroscope with six accelerometers[J]. 2009, 28(12): 42-44.
[1]李启光,张海龙,郝静如.基于六加速度计的陀螺仪漂移补偿算法的研究[J].传感器与微系统,2009,28(12):42-44. DOI： 10.13873/j.1000-97872009.12.010.

LI Qi-guang, ZHANG Hai-long, HAO Jing-ru. Research on the algorithm of drift compensation based on gyroscope with six accelerometers[J]. 2009, 28(12): 42-44. DOI： 10.13873/j.1000-97872009.12.010.

摘要

为满足机动无人机姿态测量的需求

尝试了一种新的陀螺仪漂移补偿方案:对6只加速度计按回转轴对称布局

从而解算出角速度;并利用Kalman滤波对该解算角速度与陀螺仪的输出进行融合

通过反馈校正来实现对陀螺仪漂移的补偿。仿真结果证明:该方案能有效补偿陀螺仪漂移

具有一定工程应用价值。

Abstract

In order to meet the need of attitude measuring of UAV

a new compensation solution for gyro is attempted

six accelerometers are arranged symmetrically on the axis of rotation

then angular velocity is resolved.The angular velocity is fused with the value of gyroscope by using Kalman filter

then the gyroscope drift compensation is achieved by feedback output emendation.The simulation results show that the solution can effectively compensate drift of the gyro.It has value in engineering.

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references

机动加速度辅助的航姿系统扩展卡尔曼滤波 [J]. 郭鹏飞,任章,邱海韬,杨云春. 系统工程与电子技术 . 2009(03)

MEMS陀螺仪随机误差滤波 [J]. 陈殿生,邵志浩,雷旭升,王田苗. 北京航空航天大学学报 . 2009(02)

一种面向机动的低成本姿态测量系统 [J]. 徐玉,李平,韩波. 传感技术学报 . 2007(10)

基于加速度传感器的倾角仪设计 [J]. 田小芳,陆起涌,熊超. 传感技术学报 . 2006(02)

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