摘要
针对基于激光与电磁场的空间追踪系统测量过程易受外界基准参考系制约的缺点,提出了一种不受测量环境限制的三维空间运动追踪系统.该系统基于三轴加速度传感器,采用双状态卡尔曼滤波器对传感器输出信号进行滤波处理,依据加速计非线性特性逐个修正加速度数值,使用多项式算法对空间运动速度与位移积分计算结果进行重建,最后求得被追踪物体在三维空间中的瞬时运动状态与运动轨迹.实验测得该追踪系统在加速计x,y和z轴方向位移误差分别为10.7%,7.5%和11.7%,三维空间中的位移误差为8.88%.
The 3D movement tracker based on laser or magnetic sensors is easily limited by external reference coordinate when it is being used for 3D measurement, thus a non-restricted tracking system is proposed. This system is based on 3-axis accelerometer, a two-stage Kalman filter is used to remove the noise of the sensor＇s output signal, a modification algorithm based on accelerometer＇s nonlinear character is used to modify the acceleration data, and a reconstruction algorithm based on polynomial is used to reconstruct the velocity and displacement results. Finally, the system gets the target＇s transient moving state and track in 3D space. Experimental results reveal that the system＇s errors of the moving displacement are 10.7%, 7.5%, 11.7% respectively along the x, y, z axis of the accelerometer, and the overall error is 8.88% in 3D space.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2009年第6期40-43,共4页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
作者简介
刘勃（1957-），男，副教授，E—mail：liubo@hust．edu．cn．
