基于二阶AR模型的姿态估计干扰加速度补偿
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摘要
外力引起的干扰加速度是利用加速度计进行姿态估计时的常见问题,进行干扰加速度的检测和补偿可有效提高姿态估计的精度。常规阈值方法在干扰加速度剧烈时易失效,文中提出一种基于二阶自回归(Autoregressive model,AR)模型的干扰加速度补偿方法,通过二阶AR模型预测干扰加速度,并将补偿后的加速度计观测与陀螺仪进行融合姿态估计。实验结果表明,二阶AR模型方法与阈值方法各有优势,将两者结合起来可有效进行干扰加速度的检测和补偿,提高动态情况下的姿态估计效果。
The interference acceleration caused by external force is a common problem in attitude estimation using accelerometer information. The detection and compensation of interference acceleration can effectively improve the accuracy of attitude estimation. The conventional threshold method is prone to failure when the interference acceleration is severe. In this paper,an interference acceleration compensation method based on the second-order Autoregressive model( AR model) is proposed. The interference acceleration is predicted by the second-order AR model. The compensated accelerometer observation and the gyroscope measurement are fused to estimate the attitude. Experimental results show that the second-order AR model method and the threshold method have their own advantages,and the combination of the two methods can effectively detect and compensate the interference acceleration and improve the effect of attitude estimation under dynamic conditions.
The interference acceleration caused by external force is a common problem in attitude estimation using accelerometer information. The detection and compensation of interference acceleration can effectively improve the accuracy of attitude estimation. The conventional threshold method is prone to failure when the interference acceleration is severe. In this paper,an interference acceleration compensation method based on the second-order Autoregressive model( AR model) is proposed. The interference acceleration is predicted by the second-order AR model. The compensated accelerometer observation and the gyroscope measurement are fused to estimate the attitude. Experimental results show that the second-order AR model method and the threshold method have their own advantages,and the combination of the two methods can effectively detect and compensate the interference acceleration and improve the effect of attitude estimation under dynamic conditions.
引文
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