J4 ›› 2012, Vol. 34 ›› Issue (9): 193-196.
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蒋学斌
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JIANG Xuebin
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摘要：
本文提出了基于固态传感器的航姿系统设计方案，介绍了基于四元数的航姿求解方法，设计了多传感器融合的卡尔曼滤波器。仿真结果表明，该算法在保证精度的同时能有效地估算出陀螺漂移。以TMS320F28335处理器为核心构建了硬件系统。实验结果表明，该设计能满足航姿系统对精度和速度的要求。
关键词: 惯性导航, 固态传感器, 卡尔曼滤波
Abstract:
The paper proposes the design of AHRS based on solidstate sensors, introduces an attitude angle solution method using quaternion, and designs a multisensor fusion Kalman filter. The simulation results show that the algorithm can meet the precision index of the system, and at the same time can estimate the gyro drift effectively. We design a hardware system based on processor TMS320F28335, and the experimental results show that the design can meet the AHRS requirements on accuracy and speed.
Key words: inertial navigation;solidstate sensor;Kalman filtering
蒋学斌. 微固态航姿系统的仿真与设计[J]. J4, 2012, 34(9): 193-196.
JIANG Xuebin. Simulation and Design of AHRS Based on Micro Solid State Sensors[J]. J4, 2012, 34(9): 193-196.
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http://joces.nudt.edu.cn/CN/Y2012/V34/I9/193
