【作者】 梅春波； 秦永元； 张金亮；

【Author】 MEI Chun-bo,QIN Yong-yuan,Zhang Jin-liang (Department of Automation Control,Northwestern Polytechnical University,Xi’an 710129)

【机构】 西北工业大学自动化学院；

【摘要】 本文讨论了基于MEMS惯性器件的两种水平姿态角求解方案。第一种方法由经典的互补滤波器推导而来;第二种方法采用卡尔曼滤波器来实现姿态角估计。文中对两种算法的实现细节进行了讨论,并设计了两组简单的验证实验,实验结果表明所设计的两种算法对于估计低速运载体的水平姿态角有很好的效果。更多还原

【Abstract】 Two methods are proposed to estimate the pitch and roll angles based on MEMS inertial sensors,which are three-axises gyros and three-axises accelerators.The first algorithm has the same structure as the complementary filter,so is called the nonlinear complementary filter.And the second one is based on the celebrated Kalman filter. The implimentary details of the two solutions are described separately.The results of two simple experiments valide the proposed algorithms.更多还原