Research And Implementation Of Calibration And Fusion Of Multi-sensor Data

The sensor calibration can improve the accuracy of its data,multi-sensor data fusion through a number of sensor data to optimize the combination to improve the overall performance of the system.In this paper,the calibration and fusion algorithms based on accelerometer,gyroscope and magnetometer are designed and designed,and the integrated data is applied to the attitude heading system.First introduced the basic working principle of accelerometer,gyroscope and magnetometer,the basic principle of multi-sensor data fusion and the Processing Model of Data Fusion System,the current commonly used multi-sensor data fusion algorithm,and the corresponding algorithm applications.Then we introduce the coordinate system commonly used in the attitude estimation and introduce the Euler angle,the direction cosine matrix and the quaternion,and deduce the Euler angle and the quaternion differential equation.Taking the magnetometer as an example,the mathematical model is constructed and the main sources of the error of the measurement data are analyzed.The corresponding calibration algorithm is designed and the inclination compensation algorithm of the accelerometer for the magnetoimeter is studied.Then,the basic working principle of the complementary filter and the design scheme of the corresponding attitude estimation system are introduced.The basic principle of the Kalman filter and the five core elements of the Kalman filter are introduced.Based on the linear Gaussian model,the Kalman gain matrix,the state estimation correction equation and the state estimation covariance matrix correction equation of Kalman filter are deduced.Based on the discrete Markov model,the state estimation of Kalman filter is deduced.And the Kalman filter is used to extend the Kalman filter.The Kalman filter is a filtering algorithm used in the nonlinear system model and the nonlinear observation model.The three sensor data based on the extended Kalman filter are introduced.Design of Integrated Attitude Course System.Finally,the attitude of the attitude estimation system is tested,and the dynamic test of the attitude and the comparison between the EKF and the complementary filter are tested.The test results show that the system has good static and dynamic performance,which meets the expected requirements.