Research on Application of UKF Filtering in MEMS Sensor Attitude Measurement System

DOI

10.2991/icmse-18.2018.16How to use a DOI?

Keywords

MEMS (micro electro mechanical system), attitude measurement, attitude solution, TRAID, UKF

Abstract

Aiming at the problem that the traditional attitude measurement cannot meet the requirements of small and unmanned aerial vehicles in industrial and civil areas in terms of weight, volume, and power consumption and so on, a UAV attitude measurement system based on MEMS accelerometer, gyroscope and magnetometer was proposed. The Euler angle method were used to combine the quaternion method for attitude solution, The three-axis attitude determination (TRAID) algorithm was used to construct the measurement model, and the data fusion was carried out by the unexplained Kalman filter (UKF) algorithm, so as to realize the accurate attitude measurement in static and dynamic. The experimental results showed that the system static error was less than 1°, and the dynamic error was less than 1.3°. The system had higher measurement accuracy and could meet the practical application requirements.

Copyright

© 2018, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Xingchao Zhang
AU  - Xuan Wang
AU  - Chengzhi Yang
AU  - Lu Wang
AU  - Ye Zhao
PY  - 2018/05
DA  - 2018/05
TI  - Research on Application of UKF Filtering in MEMS Sensor Attitude Measurement System
BT  - Proceedings of the 2018 8th International Conference on Manufacturing Science and Engineering (ICMSE 2018)
PB  - Atlantis Press
SP  - 73
EP  - 78
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmse-18.2018.16
DO  - 10.2991/icmse-18.2018.16
ID  - Zhang2018/05
ER  -