基于Kalman滤波算法的陀螺仪动态漂移补偿研究

Research on Compensation of Dynamic Drift of Gyroscope Based on Kalman Filtering Algorithm

摘要:

应用MEMS陀螺仪测量人体手臂运动姿态时,针对陀螺仪受线加速度干扰导致测量姿态发散的问题,提出基于Kalman滤波算法的姿态误差补偿方法；该方法首先将陀螺仪采集到的角速度通过方向余弦算法解算得到姿态角,并将陀螺仪动态漂移造成的姿态角误差视为时变信号,通过建立姿态角漂移误差的状态方程及观测方程,应用卡尔曼滤波算法,实现对姿态角漂移误差的估计,最终达到对陀螺仪动态漂移误差的补偿；实验与仿真结果表明,应用该算法能够有效的抑制线加速度干扰导致的陀螺仪测量的姿态发散,适用于陀螺仪对人体手臂运动姿态的测量。

Abstract:

In order to solve the problem of attitude divergence caused by gyroscope which is interfered by the linear acceleration when use MEMS inertial navigation device to measure the attitude of the human arm movement, propose an attitude error compensation method based on Kalman filter algorithm. In this method, the attitude angle will be calculated first by angular velocity gyroscope output through direction cosine algorithm solution, through the establishment of the attitude angle drift error state equation and observation equation, attitude angle drift error will be estimated accurately and eliminated then. The experimental and simulation results show that , algorithm used in this paper can suppress the divergent attitude effectively and is suitable for gyroscope to measure the attitude of the human arm movement.