Calibration and data fusion solution for the miniature attitude and heading reference system

被引：185

作者：

Jurman, David ^{[1
]}

Jankovec, Marko ^{[1
]}

Kamnik, Roman ^{[1
]}

Topic, Marko ^{[1
]}

机构：

[1] Univ Ljubljana, Fac Elect Engn, SI-1000 Ljubljana, Slovenia

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2007年 / 138卷 / 02期

关键词：

inertial measurement unit; electronic compass; sensor calibration; data fusion; Kalman filter;

D O I：

10.1016/j.sna.2007.05.008

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Development, calibration and alignment of a miniature magnetic and inertial measurement unit, which is used as an attitude and heading reference system, are presented. Several guidelines were followed during the design process to make the magnetic and inertial measurement unit suitable for various kinds of applications, thus the system is designed both as small as possible but still modular, consisting of three inertial sensor units, a magnetic sensor unit and a control unit. Complete calibration and alignment procedure is described and an adaptive Kalman filter concept for fusing various sensors' attitude and heading data is introduced and discussed. The characteristics of the magnetic and inertial measurement unit as an attitude and heading reference system are evaluated. The algorithm showed remarkable performance in the orientation determination as the average root mean square error was less than 1.2 degrees over the entire appliable operating range. (C) 2007 Elsevier B.V. All rights reserved.

引用

页码：411 / 420

页数：10

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