An adaptive attitude tracking method considering acceleration and magnetic field compensation

机译：考虑加速度和磁场补偿的自适应姿态跟踪方法

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摘要

This paper presents an attitude tracking method considering acceleration and magnetic field compensation for measurement units integrating of a tri-axis gyroscope, a tri-axis accelerometer and a tri-axis magnetometer. In the proposed method, the quaternion associated with the body rotation is included in the state vector together with the translational acceleration and magnetic disturbance. Moreover, in addition to the in-line procedure of sensor bias compensation, the compensation coefficients which are adjusted dynamically with the real-time measurements are adapted to guard against the effects of fast body motion and temporary magnetic disturbance. Compared to the traditional attitude tracking method, the proposed method achieves higher precision and stronger robustness experimentally.

机译：针对三轴陀螺仪，三轴加速度计和三轴磁力计的测量单元，提出了一种考虑加速度和磁场补偿的姿态跟踪方法。在提出的方法中，与身体旋转相关的四元数与平移加速度和磁干扰一起包括在状态向量中。此外，除了传感器偏差补偿的在线过程外，还可以通过实时测量动态调整补偿系数，以防止人体快速运动和暂时性磁干扰的影响。与传统的姿态跟踪方法相比，该方法在实验上达到了更高的精度和更强的鲁棒性。

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来源
《BMEI 2012;International Conference on Biomedical Engineering and Informatics》|2012年|422-427|共6页
会议地点 Chongqing(CN);Chongqing(CN)
作者
Lu Tao;
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作者单位

Institude of Automation, Chinese Academy of Sciences Beijing, 100190;

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原文格式 PDF
正文语种 eng
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关键词
MEMS sensor; adaptive compensation; attitude tracking; extended kalman filter;

机译：MEMS传感器;自适应补偿;姿态跟踪;扩展卡尔曼滤波器;;

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机译：用于消除地面残余磁场的巨磁阻抗磁传感器的阻抗补偿方法

An adaptive attitude tracking method considering acceleration and magnetic field compensation

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