基于MEMS惯性传感器的机器人姿态检测系统的研究.pdf

第2 0 卷 第2 期 传 感 技 术 学 报 Vol. 20 No. 2 2007 年2 月 CHINESE JOURNAL OF SENSOR S AND ACTUATORS Fe b. 2007 * Research of Attitude Estimation System Using MEMS Inertial Sensors * QIN Yong , ZAN G X i2zhe, WAN G Xi ao2yu , ZH AO J ie, CAI H e2gao ( Roboti cs I nstitute, H arbin I nst itut e o T ech nol ogy , H arbin 150001, China) Abstr act: An attitude est imation system based on the Micr o Electro Mechanical Sy st em ( MEM S) inert ial sensors is proposed. T he principle and the composit ion o sy st em is discussed. The sen sors dat a were pro2 cessed through the har dware ilt er circuit . T he collected dat a were u sioned using the Kalm an ilt er meth2 od. This can e ect ively enhance the precision o the att itude esitm at ion syst em . Simulat ion indicat ed that the Kalm an ilt er method is e ictively t o enhance the precision o sy st em. T here were good results in the actual experiment and it was applied in the att itude est imat ion o the two2wheeled sel 2balance robot . Key words: att itude est im ation ; gyroscope; accelerometer ; Kalm an ilt er EEACC:2 7 ; 7230 MEMS * * 秦 勇 , 臧希喆, 王晓宇, 赵 杰, 蔡鹤皋 ( , 150001) : MEMS , , . , . , , . . , . : ; ; ; ; :TP212. 9 :A : 100421699( 2007)0220298204 , . , . , MEMS , , . . MEM S , , , , , , , . . , . . , . , . , , , , . . , 1 , , . ,