摘要
针对传统人体姿态解算算法中存在的稳定性差和解算精度低等问题,提出一种基于多传感器信息融合的姿态解算算法。利用四元数计算人体的姿态变化,将惯性测量模块的姿态测量值与观测值之间的偏差通过PI调节进行控制;采用互补滤波对多传感器数据进行融合,求取人体实时姿态。实验表明,该算法能够实现稳定地输出高精度姿态数据。
Aiming at the problems of poor stability and short precision in traditional attitude estimation algorithms, a method based on multi-sensor information fusion was proposed. The quaternion was used to calculate the attitude chan ges, and deviations between measurements and observations from the Inertial Measurement Unit（IMU） were managed by PI regulator. The complementary filtering was adopted for multi-sensor information fusion, and the real-time attitude was got. Experimental results showed that the algorithm could output the high precision attitude steadily.
出处
《山东大学学报（工学版）》
CAS
北大核心
2013年第5期49-54,共6页
Journal of Shandong University（Engineering Science）
关键词
姿态解算
多传感器信息融合
四元数
互补滤波
PI调节
attitude estimation
multi-sensor information fusion
quatemion
complementary filtering
PI regulation
