Study of micro attitude determination system based on MEMS sensors

Liang Xue, Tian Zhi Li, Xiao Ying Li, Hong Long Chang

科研成果: 期刊稿件文章同行评审

4 引用 (Scopus)

摘要

An attitude determination system composed of MEMS gyroscopes, accelerometers and magnetometer is designed. The system can solve the problem of error accumulation in the strap-down attitude determination system. The stochastic errors of gyroscope are analyzed through Allan variance. Quaternion error differential equation and magnetometer linearized measurement equation are established, a Kalman filter is designed for attitude estimation. The attitude is calculated with practical sensors' output. The experimental results indicate that this combination could effectively restrain attitude error arising from the random drift of sensor. The system has the characteristics of small size, low cost, and good reliability.

源语言英语
页(从-至)457-460
页数4
期刊Chinese Journal of Sensors and Actuators
21
3
出版状态已出版 - 3月 2008

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