磁力计 姿态 matlab,基于MIMU和磁力计的姿态更新算法研究

第 28 卷 第 1 期 2015 年 1 月 传 感 技 术 学 报 CHINESE JOUＲNAL OF SENSOＲS AND ACTUATOＲS Vol. 28 No. 1 Jan． 2015 项目来源:国家自然科学基金( 61301126) ; 重庆市基础与前沿研究计划项目( cstc2013jcyjA40032，cstc2013jcyjA40041) ; 重庆市重点实验室专项基金( CSTC) 。 收稿日期:2014－09－04 修改日期:2014－11－05 MIMU Update Algorithm Based on the Posture and Magnetometer* MI Gang，TIAN Zengshan* ，JIN Yue，LI Ze，ZHOU Mu ( Chongqing Key Lab of Mobile Communications Technology，Chongqing University of Posts and Telecommunications，Chongqing 400065，China) Abstract: Since the conventional human attitude algorithms suffer from the fast divergence of MEMS gyro errors，this paper proposes a novel attitude algorithm based on the information fusion of micro inertial measurement unit ( MIMU) and magnetometers． We first rely on the filter combined with PI regulation to conduct gyro zero slant cor-rection，and then in the condition of accelerometer and magnetometer auxiliary correction，realize the gyro attitude algorithm by using the extended Kalman filter( EKF) to update quaternion． By selecting the MPU9150 sensor mod-ule，the extensive experiments are provided to compare the performance of the conventional single EKF and the pro-posed algorithm in filtering． The results demonstrate that the proposed algorithm can significantly restrain the diver-gence of MEMS gyro errors，and consequently output the stable and highly-accurate attitude data． Key words: sensor; attitude algorithm; gyro calibration; complementary filter; PI regulation; EKF EEACC: 7320E doi: 10．3969/j．iss