基于加速计和磁力计的任意静止对齐的传感器和欧勒角度误差之间的关系的分析表述
Chang June Lee1, Jung Keun Lee2
1Department of Integrated Systems Engineering, Hankyong National University, Anseong 17579, Republic of Korea.
Sensors (Basel, Switzerland)
|April 26, 2025
概括
本研究引入了一种新的分析方法,以了解态度和方向参考系统 (AHRS) 中的欧勒角误差. 配方准确地描述了传感器错误如何影响定位准确性,无论对齐如何.
科学领域:
- 导航系统 导航系统
- 传感器融合式传感器
- 地质物理学 地质物理学
背景情况:
- 定位和定位参考系统 (AHRS) 对于确定导航中的传感器定位至关重要.
- 在AHRS中静止对齐易受传感器错误的影响,影响准确性.
- 现有的研究缺乏对不同传感器方向的欧勒角度误差的详细分析.
研究的目的:
- 根据加速度计和磁力计数据,在AHRS中开发欧勒角度误差的分析公式.
- 为了研究传感器误差因子和欧勒角度误差之间的关系,独立于传感器导航框架对齐.
- 为分析单个传感器错误对整体定位准确度的影响提供一种方法.
主要方法:
- 使用三轴态度确定 (TRIAD) 方法进行静止对齐.
- 嵌入式传感器错误因素包括尺度,安装,偏移,噪声和恒定偏差.
- 开发了一种线性方程来建模传感器误差和欧勒角度误差之间的关系.
- 针对不同欧勒角的传感器对齐和传感器不对齐条件进行模拟.
主要成果:
- 拟议的公式准确地描述了欧勒总角度误差.
- 该方法成功量化了归因于单个传感器错误因子的部分错误.
- 在传感器对齐和任意欧勒角配置中证实了该公式的有效性.
结论:
- 开发的分析公式提供了一个全面的理解欧勒角误差在AHRS.
- 这种方法可以分析单个传感器错误对定位准确性的影响.
- 这些发现适用于导航系统中的随机对齐场景.
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