A Robust Orientation Estimation Algorithm Using MARG Sensors
A Robust Orientation Estimation Algorithm Using MARG Sensors
复制标题
使用 MARG 传感器的鲁棒方位估计算法
DOI：
10.1109/tim.2014.2359815
复制
发表时间：
2015
影响因子：
5.6
通讯作者：
["Jwusheng Hu
中科院分区：
文献类型：
--
作者：
["Jwusheng Hu
提出了一种基于磁传感器、角速率传感器和重力传感器的稳健方位估计算法。通过对磁强计进行硬铁效应补偿和将加速度计信号分离成重力投影和线加速度计两种在线方法实现了系统的鲁棒性。此外，对于相对于北、东、下三个坐标系的旋转矩阵，使用了直接余弦矩阵。融合方程采用状态约束卡尔曼滤波进行求解。仿真和实验结果表明，该算法在加速度和硬铁影响下的姿态估计是有效的。
This paper presents a robust orientation estimation algorithm by using magnetic, angular rate, and gravity sensors. The robustness is achieved by two online methods: compensation of hard iron effect for the magnetometer and separation of the accelerometer signals into gravity projections and linear accelerations. Further, direct cosine matrix is used for the rotation matrix relative to the north, east, down frame. The fusion equations are solved using state-constrained Kalman filter. The simulation and experiment results show the effectiveness of the proposed algorithm in estimating the orientation under acceleration and hard iron influence.