用于虚拟现实的九轴惯性传感单元设计

摘要

A 9-axis inertial measurement unit (IMU) based on Kalman filtering which is key device for motion tracking in virtual reality(VR) technology is designed and realized.Quaternion is used as state vector,and the attitude angle which is calculated from accelerometers and magnetometers is used to compensate for ~ro drift.The IMU is designed with a sampling frequency of 1 kHz.Test by connecting cell phone and upper PC,the 9-axis IMU can achieve fusion and correction of attitude angle very well.%设计并实现了一种基于卡尔曼滤波的用于虚拟现实中运动追踪的关键装置一九轴惯性传感单元.以4元数为状态向量,在卡尔曼滤波器中,通过由加速度计和磁强计得到的姿态角对陀螺仪的漂移进行补偿.惯性传感单元的采样频率达到1 kHz.通过连接手机上位机测试,很好地实现了姿态角的融合和矫正.