报告详情
High-precision attitude measurement based on differential MEMS sensor array structure and improved ESKF algorithm
编号：33
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更新：2024-10-23 10:49:52
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口头报告
报告开始：2024年11月02日 09:30（Asia/Shanghai）
报告时间：20min
所在会场：[P4] Parallel Session 4 [P4-2] Parallel Session 4（November 2 AM）
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摘要
High-precision attitude measurement is widely used in aerospace, robotics, medical imaging and other fields.The precision of attitude measurement mainly depends on MEMS inertial sensor array technology and advanced attitude solution algorithms, but the existing sensor array design and attitude solution algorithms can not effectively deal with the measurement noise. To solve the above problems, an attitude measurement system based on differential sensor array structure is designed in this paper, and an Improved Error State Kalman Filter (IESKF) algorithm based on residual extraction and analysis technology is proposed. The experimental results show that both the differential sensor array and IESKF algorithm can effectively improve the accuracy of attitude measurement. The angular velocity error of the differential array is improved by about 79.4% compared with that of a single sensor, and that of a group of differential structure sensors is improved by about 31.4% compared with that of a dual sensor. The quaternion output accuracy of IESKF algorithm is better than that of the general error state Kalman filtering algorithm.
关键词
MEMS; Differential sensor array; Improved ESKF algorithm; Data fusion; Attitude measurement
报告人
伟晔朱
student UESTC (University of Electronic Science and Technology of China)稿件作者
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重要日期
-
会议日期
10月31日
2024
至11月03日
2024
-
09月30日 2024
初稿截稿日期
-
11月12日 2024
注册截止日期
主办单位
Anhui University
Xi’an Jiaotong University
Harbin Institute of Technology
IEEE Instrumentation & Measurement Society
Xi’an Jiaotong University
Harbin Institute of Technology
IEEE Instrumentation & Measurement Society
联系方式
- Mrs. icsmd
- ic******@163.com
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