多传感器可变参数互补滤波算法设计

发布时间：2018-02-12 11:42

本文关键词： 组合导航多传感器互补滤波运动状态磁场干扰可变参数 FPGA　出处：《电光与控制》2017年02期 　论文类型：期刊论文

【摘要】：针对互补滤波器在组合导航中无法适应载体运动状态变化和周围磁场干扰问题,设计一种多传感器可变参数互补滤波算法。首先,在频域上分析各传感器噪声,根据其频率互补性设计多传感器互补滤波器;其次,通过加速度计和电子罗盘输出监测载体运动状态和磁场环境,设定可变滤波器参数以降低上述变化引起的估计误差;最后,以FPGA为核心,MEMS陀螺仪、加速度计和电子罗盘构建组合导航系统验证算法。实验表明,与商业级姿态航向参考系(AHRS)测量值对比,该算法能够确保系统较高精度的输出,且有效降低载体运动状态变化和磁场干扰影响。
[Abstract]:Aiming at the problem that the complementary filter can not adapt to the change of carrier motion state and the interference of the surrounding magnetic field in the integrated navigation, a multi-sensor variable parameter complementary filtering algorithm is designed. Firstly, the noise of each sensor is analyzed in frequency domain. The multisensor complementary filter is designed according to its frequency complementarity. Secondly, the variable filter parameters are set up to reduce the estimation error caused by the above changes through the output of accelerometer and electronic compass to monitor the moving state of the carrier and the magnetic field environment. The verification algorithm of integrated navigation system based on FPGA gyroscope, accelerometer and electronic compass is constructed. The experimental results show that compared with the measured values of commercial attitude heading reference system, the algorithm can ensure the high precision output of the system. And it can effectively reduce the change of carrier motion state and the influence of magnetic field interference.
【作者单位】：中国民航大学中欧航空工程师学院;中国民航大学电子信息与自动化学院;
【基金】：中央高校基本科研业务费中国民航大学专项资助项目(3122015Z003)
【分类号】：TN967.2;TN713;TP212

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