摘要
设计了基于DSP的专用导航计算机,并以此为硬件平台,采集陀螺仪、加速度计、磁航向传感器和速度传感器信号,利用卡尔曼滤波技术进行多传感器信息融合,成功搭建了低成本小型航姿系统。针对该航姿系统的特点,设计了导航计算机程序快速更新软件,对卡尔曼滤波器进行低阶处理。针对导航计算机“数字信号处理器(DSP)+单片机(MCU)”的特殊结构,设计了合理的多传感器信息融合程序。实验证明:航姿系统利用多传感器信息融合技术,使用自行研制的专用导航计算机平台,姿态误差小于0.2,°航向误差小于0.5°,且大大减小了系统成本、体积和功率,具有实际应用价值。
Special navigation computer based on DSP is designed, and it is used to collect the signal of gyros, accelerometers,magnetic heading sensor and velocity sensor, the Kalman filter is applied to multi-sensors data fusion,then the AHRS is built up. According to the AHRS characteristics,a program update software and a loworder Kalman filter are designed, and the program for the special structure “DSP ＋ MCU” is modified. Experiments prove that using the multi-sensor data fusion and the special navigation computer designed by ourselves, the attitude error is less than 0.2 degree and the heading angle error less than 0.5 degree. Furthermore,the AHRS can work steadily with lower price ,smaller volume and lower power. It is important for practice.
出处
《传感器技术》
CSCD
北大核心
2005年第9期85-88,共4页
Journal of Transducer Technology
基金
国家自然科学基金资助项目(60472125)
关键词
航姿系统
多传感器
数据融合
导航计算机
数字信号处理器
低阶卡尔曼滤波器
attitude and heading reference system （ AHRS ）
multi-sensors
data fusion
navigation computer
digital signal processor（DSP）
low-order Kalman filter
作者简介
杜亚玲（1979-）,女,河南濮阳人,博士研究生,现从事基于DSP的惯性系统的研究工作.
