Research And Application On The Multi-sensor Fusion Attitude Measurement System

Multi sensor fusion,also known as information fusion between multi-sensor,is a comprehensive optimization technology for the relationship between the output information of multiple sensors.With the development of MEMS,the advance of multifarious intelligent devices can be achieved by the miniature,cheap and lightweight characteristics.However,the low financial investment also results in low precision.To solve the problem,this paper applies multi-sensor information fusion technology to enhance the attitude detection precision.First,the status of micro sensor technology is described,and its future development directfuion.The processes to choose and converse among several coordinate systems,the derivative procedure including rationales of fusion arithmetic are demonstrated elaborately in the paper.Then,by building the experimental platform of stm32f051 microprocessor,the accelerometer and gyroscope integrated module icm42605 and the electronic magnetic compass integrated module ak8963 to solve the attitude.The whole attitude calculation is divided into two parts.The first part designes an error pre-processing method of autoregressive moving average model(ARMA)to support the attitude calculation of inertial measurement unit.On this basis,a two-stage noise variance matrix is constructed and an adaptive extended Kalman filter algorithm with fading memory factor is introduced to improve the arithmetic precision and obtain the attitude data.The second part is the attitude computation of AHRS.The attitude fusion algorithm based on four parameter method and extended Kalman filter is used to get more accurate attitude information.Experiments show that the calculated attitude is consistent with the reference attitude information from two aspects of high dynamic environment and low dynamic environment,and the attitude calculation effect is good.It has the ability to work in complex environment,and can be applied to ordinary civil equipment.Finally,the INS / GPS navigation system is used to process navigation information.The extraventricular trials show that the guidancde precision of this system meets the requirements of daily positioning.Figure 32;Table 11;Reference 55...