基于角度补偿的手机多传感器数据融合测距算法

发布时间：2018-04-14 17:33

本文选题：手机传感器 + 数据融合　；参考：《传感技术学报》2017年02期

【摘要】：在惯性测量领域,单纯利用加速度二次积分的方法并不能准确感知目标对象移动的距离。加速度传感器在感知呈线性运动的目标对象时较为准确和实用,但在三维空间运动时它的坐标轴会随物体发生方向的改变而不断漂移。为解决该问题,提出了一种基于角度补偿的手机多传感器数据融合测距算法(ADC-R),使用加速度传感器测量物体运动的加速度,作为计算位移的原始数据;采用手机陀螺仪传感器测量运动物体的角速度,并以旋转矢量传感器输出的数据作为参数把手机动态坐标系下测得的加速度值空间坐标转换到静态的参考坐标系下,然后进行数据融合完成角度补偿计算;最后根据物理学加速度和位移的关系运用数学积分方法和进一步修正误差的技术得到最终移动的距离。实验结果表明此方法在近距离测距方面精度较高,优于加速度积分算法和加速度与陀螺仪融合算法。
[Abstract]:In the field of inertial measurement, the method of quadratic integration of acceleration can not accurately perceive the moving distance of the target object.Acceleration sensor is more accurate and practical in sensing the object with linear motion, but its coordinate axis will drift continuously with the change of object direction when moving in three-dimensional space.In order to solve this problem, a mobile phone multi-sensor data fusion ranging algorithm based on angle compensation is proposed. The acceleration sensor is used to measure the acceleration of the moving object as the original data to calculate the displacement.The mobile phone gyroscope sensor is used to measure the angular velocity of the moving object, and the data output from the rotating vector sensor is used as a parameter to convert the acceleration values measured in the mobile phone dynamic coordinate system into the static reference coordinate system.Then the angle compensation calculation is completed by data fusion, and the distance of the final movement is obtained by using the mathematical integral method and the technique of further correcting the error according to the relation between the physical acceleration and the displacement.The experimental results show that this method is superior to the acceleration integral algorithm and the acceleration and gyroscope fusion algorithm.
【作者单位】：浙江农林大学信息工程学院;
【基金】：国家自然科学基金项目(61190114,61303236) 浙江省科技计划项目重大科技专项项目(2012C13011-1) 浙江省自然科学基金项目(LY16F020036)
【分类号】：TP212

【相似文献】