應用互補濾波器及慣性感測器於姿態估測

Attitude Estimation using Inertial Measurement and Complementary Filter

劉齊豐(Chi-Feng Liu)

指導教授 ： 曾百由

國立臺北科技大學/機電學院/機電整合研究所/碩士(2014年)

摘要

導航系統在現今科技發達的社會中，越來越受到重視，無論是在飛機、汽車甚至是自行車上，都不難發現有導航裝置的存在。通常導航系統包含了全球定位系統和慣性導航系統；但全球定位系統易因地形、氣候等因素所影響，所以在本研究主要以開發慣性導航系統的演算法。
在本研究中，為達到低成本、高功效的目的，將選用低單價的感測器，透過旋轉運動平台，將慣性感測器在不同運動狀態的測量值，分別經過四元素法與尤拉角後並透過互補濾波器做結合，以期此方法能有效的做姿態估算。
在演算法上，因會碰到環架閉鎖的問題，所以在本論文中，將推導一輔助公式，期望在環架閉鎖產生時，也能有效的估算姿態角。

關鍵字

姿態估測 ； 四元素法 ； 尤拉角 ； 互補濾波器 ； 環架閉鎖

並列摘要

In the developed countries, the navigation systems obtain, more and more attention, in aircraft, automobile and even on bicycle. It is not difficult to find a navigation device in vehicles. Navigation system usually consists of a global positioning system and inertial navigation system. But the precision of global positioning system can affected by the terrain, climate and other factors, this study wants to develop an inertial navigation system algorithms to estimate the attitudes.
In the present study, in order to obtain low cost, and high efficiency, low-priced sensors are selected. With a rotary motion platform inertial sensor measurements at different motion states are obtained, respectively, by quaternion method and Direction Cosine calculation with a complementary filter to effectively estimate the Euler attitude of motion.

In the algorithm, because the gimbal lock will create singularity, an auxiliary formula is derived in this paper, generate solution in gimbal lock, which can effectively estimate the attitude angle.

並列關鍵字

Attitude Estimation ； Quaternion ； Euler Angles ； Complementary filter ； Gimbal Lock

參考文獻

[11] 鄞銘佐，藉由雷射測距儀和疊代最近點演算法在未知靜態環境中對行動機器人的姿態估測，碩士論文，國立台灣大學電機工程學研究所，2009。

[21] 徐嘉偉，應用互補濾波器於慣性感測之運動與姿態角估算，碩士論文，國立台北科技大學機電整合所，2010。

[5] W. P. Chen, J. Y. Yang, S. N. Liou, G. Y. Lee, and J. S. Wang, “Online Classifier Construction Algorithm for Human Motion Detection Using an Accelerometer.’’ Applied Mathematics and Computation, 2008.

[8] G.Dissanayake, S.Sukkarieh, E.Nebot and H.Durrant-Whytr, “The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications,’’ IEEE Transactions on Robotics and Automation, vol.17, pp.731-747, 2001.

[9] W. Y. Wong and M. S. Wong, “Measurement of postural change in trunk movements using three sensor modules,” IEEE Transactions on Instrumentation and Measurement, vol.58, pp.2737-2742, 2009.