運用基於四元數卡爾曼濾波器建立姿態方向參考系統來作物件軌跡與姿態測量

Tracking and Attitude of Objects by Quaternion Based on Kalman Filter to Build an Attitude and Heading Reference System

陳育民(Yu-Min Chen)

指導教授 ： 涂世雄

中原大學/電機資訊學院/電機工程研究所/碩士(2017年)

https://doi.org/10.6840/cycu201700306

摘要

在本論文中，我們提出了一種基於卡爾曼濾波的四元數跟踪和姿態測量方案，構建在姿態和方向參考系。首先透過四元數與旋轉矩陣對物件的姿態作推算，達到系統整體的穩定性，通過估計來執行態度和跟踪應用。本文詳細分析慣性測量元件的軌跡追蹤。在Sparkfun 慣性測量元件的模組中包含3軸陀螺儀、3軸加速度計和3軸磁力計。在第二部分我們為了克服低精度和容易發散的缺點，採用了基於四元數的卡爾曼濾波算法，建立狀態方程其將姿態四元數誤差和陀螺漂移作為狀態變量。測量方程採用加速度計，磁力計和陀螺儀之間的姿態四元數構成。第三為了物件運動辨識使用慣性測量單元和姿態方向參考系統對物件作高精度測量。最後，我們使用藍牙或XBee通信模塊接收實時態度辨別和軌跡跟踪。測試結果表示，在靜態下消除了累積誤差，並補償了動態狀態下的誤差。

本篇論文的研究結果貢獻如下：
1. 安全性：用於人體運動復健監測的可穿戴傳感器系統，用於嬰兒處於睡姿和攀爬風險。
2. 簡單性：IMU安裝在身體上，用於估測軌跡跟踪和姿態測量。
3. 特徵性：基於四元數的卡爾曼濾波器改進並加強了可穿戴設備中算法執行的穩定性，監測慣性裝置的測量能力。
4. 趨勢性：為了適應人們增加安全知識水平的要求，我們提出了一種與可穿戴設備相結合的算法，用於傳感器技術和監控設備。

關鍵字

慣性測量單元 ； 四元數 ； 卡爾曼濾波器 ； 姿態方向參考系統

並列摘要

In this thesis, we propose a scheme of tracking and attitude of objects by quaternion based on Kalman filter to build an attitude and heading reference system. At first the attitude of the object is calculated by the quaternion and the rotation matrix. To achieve the overall stability of the system, through the estimation to perform attitude and tracking applications. The thesis presents the detailed analysis of position tracking based on Inertial measurement unit. The Sparkfun Inertial measurement unit module contains 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer. In the second part of our proposal, in order to overcome the low precision, easy divergence and other shortcomings, a Kalman filter algorithm based on quaternion is employed. The establishment of the state equation requires dynamic error and a gyroscope motion, attitude as a state variable. The measurement scheme is built to take the quaternion of attitude matrix among accelerometers, magnetometers and gyroscopes. Third, in order to measurement the object movement, an Attitude and Heading Reference System with Inertial measurement unit is considered to accurately estimate the attitude. Finally, we use the Bluetooth or XBee communication module to receive real-time attitudinal discrimination and trajectory tracking. The results of tests indicate that the accumulated errors are eliminated in static state and the errors in dynamic state are compensated.

In this thesis, the contributions of our research are as follows:
1. Security：We present a wearable sensor system for human motion monitoring in recovery for infants at risk of Sleeping position and climbing.
2. Simplification：It mounted the inertial measurement unit on the human body for estimating trajectory tracking and attitude measuring.
3. Characterization：The quaternion based Kalman filter improves and strengthens the stability of the algorithm execution in wearable devices monitoring inertial device for measuring capability.
4. Trending: To fit the requirement of the increased safety knowledge level of people, we propose an algorithm to combine with a wearable device, an appear for sensor technologies and monitoring devices.

並列關鍵字

Inertial measurement unit ； Quaternion ； Kalman Filter ； Attitude and Heading Reference System

參考文獻

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