1. 常州大学计算机与人工智能学院阿里云大数据学院
2. 常州大学生物医学工程与健康科学研究院
3. 常州大学机械与轨道交通学院
纸质出版:2023
移动端阅览
邵艳巡, 邓林红, 戎海龙. 基于惯性—地磁组合的多模型融合姿态测量算法[J]. 传感器与微系统, 2023,(1):109-112.
邵艳巡, 邓林红, 戎海龙. 基于惯性—地磁组合的多模型融合姿态测量算法[J]. 传感器与微系统, 2023,(1):109-112. DOI: 10.13873/J.1000-9787(2023)01-0109-04.
针对运动体线性加速度和周围磁场干扰对姿态测量精度的影响,基于现有的惯性—地磁组合测量单元,提出了一种多模型融合姿态测量算法。利用可靠性判定准则将运动状态分为3类,根据运动状态选择不同传感器数据用于姿态测量,并建立3种数据融合模型。基于融合姿态测量算法实现不同传感器数据间的融合,计算得到姿态矩阵和姿态角。提出“误差估计”用于可靠性判定准则公式中最优阈值的选择,实现运动状态准确识别。经实验验证,该算法在测量精度和速度上都有所提升。
基于磁传感器组合的运动物体姿态解算[J]. 陶浪舟;李凯;韩焱;于明;王小飞.传感器与微系统,2013(12)
基于Kalman滤波算法的姿态传感器信号融合技术研究[J]. 陈航科;张东升;盛晓超;王凯.传感器与微系统,2013(12)
基于互补滤波器的四旋翼飞行器姿态解算[J]. 梁延德;程敏;何福本;李航.传感器与微系统,2011(11)
Generalized Linear Quaternion Complementary Filter for Attitude Estimation From Multisensor Observations: An Optimization Approach.[J]. Jin Wu 0002;Zebo Zhou;Hassen Fourati;Rui Li;Ming Liu 0001.IEEE Trans. Automation Science and Engineering,2019
Development of a Wearable Device for Motion Capturing Based on Magnetic and Inertial Measurement Units[J]. Fang Bin;Sun Fuchun;Liu Huaping;Guo Di.Scientific Programming,2017
Reliable orientation estimation for mobile motion capturing in medical rehabilitation sessions based on inertial measurement units[J]. Hans-Peter Brückner;Benjamin Krüger;Holger Blume.Microelectronics Journal,2014
Complementary Observer for Body Segments Motion Capturing by Inertial and Magnetic Sensors[J]. Fourati, H.;Manamanni, N.;Afilal, L.;Handrich, Y..IEEE/ASME transactions on mechatronics: A joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division,2014
Variable-State-Dimension Kalman-Based Filter for Orientation Determination Using Inertial and Magnetic Sensors[J]. Angelo Maria Sabatini.Sensors,2012
Estimation of Human Foot Motion During Normal Walking Using Inertial and Magnetic Sensor Measurements[J]. Xiaoping Yun;James Calusdian;Eric R. Bachmann;Robert B. McGhee.IEEE Transactions on Instrumentation and Measurement,2012
Estimation of IMU and MARG orientation using a gradient descent algorithm.[J]. Madgwick Sebastian O H;Harrison Andrew J L;Vaidyanathan Andrew.IEEE ... International Conference on Rehabilitation Robotics : [proceedings],2011
Design, Implementation, and Experimental Results of a Quaternion-Based Kalman Filter for Human Body Motion Tracking[J]. Xiaoping Yun;Eric R. Bachmann.IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society,2006
0
浏览量
196
下载量
3
CSCD
关联资源
相关文章
相关作者
相关机构
京公网安备11010802024621