基于MEMS传感器的微飞行器姿态理论与实验研究
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预研项目(LZY2016215、6141A02022607、1620010701);国家自然科学基金资助项目(61574093);航空基金资助项目(2016ZD57006、2013ZC57003);上海市平台基金资助项目(16DZ2290103)

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Attitude Theory and Experimental Research of Microaircraft Based on MEMS Sensor
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    摘要:

    为了得到基于微机电系统(MEMS)运动传感器的微飞行器的姿态角的输出,该文从理论和实验角度进行了全面分析。首先基于MEMS运动传感器的加速度计与磁力计理论计算了微飞行器的初始姿态及其最大误差范围,然后基于MEMS运动传感器的陀螺仪计利用时间序列自回归滑动平均模型(ARMA)分析方法对原始角速度进行误差建模,并利用卡尔曼滤波进行误差补偿,并通过积分法到更高精确度的姿态角度的算法,最后利用转台实验对其进行验证。通过该算法,对于任何MEMS九轴传感器,由实验确定相应的参数后,即可得到该传感器更高精确度的姿态角的输出。

    Abstract:

    In order to obtain the output of the attitude angle of the microaircraft based on MEMS motion sensor, the comprehensive analysis from the theoretical and experimental aspects are carried out in this paper. Firstly, the initial attitude and the maximum error range of the microaircraft are calculated theoretically based on the accelerator and magnetometer of MEMS motion. Then the error modeling of the original angular velocity is carried out by using the time series autoregressive moving average model (ARMA) analysis method based on the gyroscope of MEMS motion, and the Kalman filtering is adopted to compensate the error. The integral method is used to obtain the higher accuracy attitude angle. Finally, the rotatedtable experiment is carried out to verify it. For any nineaxis MEMS sensor, through the experiment to determine the corresponding parameters, the attitude angle output of the sensor with higher accuracy can be obtained by using the proposed algorithm.

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魏志方,张卫平,刘武,崔峰,周岁,邹逸飞,沈国豪.基于MEMS传感器的微飞行器姿态理论与实验研究[J].压电与声光,2018,40(4):516-520. WEI Zhifang, ZHANG Weiping, LIU Wu, CUI Feng, ZHOU Sui, ZOU Yifei, SHEN Guohao. Attitude Theory and Experimental Research of Microaircraft Based on MEMS Sensor[J]. PIEZOELECTRICS AND ACOUSTOOPTICS

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  • 在线发布日期: 2018-08-13
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