| 摘 要: 针对球形机器人在姿态解算的过程中，惯性测量元件精度不高、稳定性差和易受噪声干扰从而导致无法精确控制其运动姿态的问题，提出一种通过扩展卡尔曼滤波融合IMU(Inertial Measurement Unit)惯性测量元件数据来进行姿态解算的方法，利用多传感器测量数据进行融合，并使用扩展卡尔曼滤波得到精确的姿态信息。通过相关实验充分验证了基于扩展卡尔曼滤波的姿态解算方法的精度和鲁棒性明显提高，抗噪声干扰能力更强。实验表明，该姿态解算方法相比于互补滤波的姿态解算，全姿态角均方根误差和平均误差分别下降了0.0601和0.1984，可见其对于球形机器人的运动控制具有良好的适用性。 |
| 关键词: 球形机器人；扩展卡尔曼滤波；互补滤波；姿态解算；四元数 |
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中图分类号: TP273
文献标识码: A
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| Attitude Calculation of Spherical Robot based on Extended Kalman Filter |
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LONG Ziyang, XIANG Peng, SUI Guorong
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(College of Opto -electronic Information and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China)
lzy_1194633164@163.com; charlottexp@163.com; suigr@usst.edu.cn
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| Abstract: In the process of attitude calculation of spherical robot, the inertial measurement element has problems of low accuracy, poor stability and being easy to be disturbed by noise, which makes it impossible to accurately control its motion attitude. In view of these problems, this paper proposes an attitude calculation method which integrates extended Kalman filter and IMU (Inertial Measurement Unit) data. Multi-sensor measurement data is used for fusion and extended Kalman filter is used to obtain accurate attitude information. Relevant experiments fully verifies that the accuracy and robustness of the attitude calculation method based on extended Kalman filter are significantly improved, and the anti-noise interference ability is stronger. Experiments show that compared with the attitude calculation of complementary filter, the root mean square error and average error of the full attitude angle have decreased by 0.0601 and 0.1984 respectively. It can be seen that this method has good applicability for the motion control of spherical robot. |
| Keywords: spherical robot; extended Kalman filter; complementary filter; attitude calculation; quaternion |
