动态倾角传感器及其传递特性的研究
首发时间:2011-10-27
摘要:通过分析惯性传感器在姿态检测系统中的优缺点,提出一种简易互补滤波算法对陀螺仪和加速度计进行数据融合,生成动态倾角信号。利用角度测试装置测试该基于互补滤波的倾角传感器的动态特性,通过系统辨识获取该传感器的传递函数。辨识结果表明,该动态倾角传感器有效去除加速度计动态情况下的干扰和陀螺仪累积漂移误差,及时跟踪系统倾角变化,得到比较准确的动态角度值。
关键词: 测试计量技术及仪器 加速度计 陀螺仪 互补滤波 系统辨识
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The Research of Dynamic Tilt Sensor and Its Transfer Characteristics
Abstract:This paper analyzes the advantages and disadvantages of the inertial sensors in attitude detection system. Based on this analysis, the author puts forward a kind of simple filter algorithm which creates dynamic angle signals after fusing the data of gyroscope and accelerometer. Angle testing equipment is used to test the dynamic characteristics of the tilt sensor based on complementary filtering, then the transfer function is obtained through system identification. Identification results show that the dynamic tilt sensor effectively removes the interference of accelerometer and the drift error of gyroscope in dynamic circumstances, timely tracks angle change and gets almost accurate dynamic angle.
Keywords: Measurement Technology and Equipment Accelerometer Gyroscope Complementary Filtering System Identification
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