在水下航行姿态优化问题的研究中，存在滤波实时性不高，系统鲁棒性差等问题，提出一种信息融合姿态解算方法。该种姿态解算方法基于四元数惯性系统数学模型，并对MEMS传感器信号预处理，将惯性模块的测量数据与观测数据进行向量积，通过PID控制器进行调节，互补滤波对角速度进行修正，利用龙格库塔法对四元数微分方程进行更新求得更精确的姿态角数据。仿真结果表明，提出的方法较传统姿态解算具有更好的精度以及鲁棒性。
In the research of underwater navigation attitude optimization problems, there are problems such as low real-time filtering and poor system robustness. An information fusion attitude solution method is proposed. This attitude calculation method is based on the mathematical model of the quaternion inertial system, and preprocesses the MEMS sensor signal. The measured data of the inertial module and the observation data are vector products, adjusted by the PID controller, and the angular velocity is corrected by complementary filtering. The Runge-Kutta method is used to update the quaternion differential equation to obtain more accurate attitude angle data. Simulation results show that the proposed method has better accuracy and robustness than traditional attitude calculation.
2022,44(3): 53-56 收稿日期：2021-05-26
DOI：10.3404/j.issn.1672-7649.2022.03.010
分类号：U674.91
基金项目：国防科工局资助项目(XM200465)
作者简介：陈端迎(1979-)，男，硕士，高级工程师，研究方向试验指挥、仿真训练、系统工程
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