基于四元数的低成本姿态测量系统设计

摘要

To satisfy the requirements of attitude determination of moving carrier,a low-cost attitude determination system is designed. The attitude algorithm is based on quaternion representation. To correct drift error caused by cu-mulative error of the gyroscope,it combines gyroscope data and accelerometer data by the algorithm based on gradi-ent descent and complementary filter,which can reduce the load of MCU and improve real timing by costing less computation amounts. The experimental results indicate that the low-cost system can work in real time and output stable attitude. It has practical value of engineering.%针对运动载体姿态测量的需求,以MEMS惯性测量器件MPU6050为核心,设计了一种低成本姿态测量系统.系统采用四元数作为姿态解算的基础,融合陀螺仪和加速度计数据以修正陀螺仪累积误差引起的姿态漂移.为了降低MCU负担提高系统实时性,数据融合采用运算量较小的梯度下降和互补滤波相结合的方法.实验结果表面:此测量系统实时性好,输出姿态角稳定,且成本低,具有一定的实用价值.