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吉林化工学院学报, 2020, 37(3): 73-76     https://doi.org/10.16039/j.cnki.cn22-1249.2020.03.015
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一种角度融合算法在姿态角解算中的应用
张振涛1,王娟2
1 吉林化工学院 信息与控制工程学院,吉林 吉林 132022; 2 吉林工业职业技术学院 电气与信息技术学院,吉林 吉林 132013
Application of an Angle Fusion Algorithm in Attitude Angle Solution
ZHANG Zhentao1,WANG Juan2
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摘要 

利用四元数求解姿态变换矩阵,采用三轴旋转的方式复合成姿态角变换矩阵,建立在姿态测量中的标度变换从而完成该算法的软件设计,然后通过对测量传感器MPU6050的电路设计和编程实验,并且建立上位机3D模型,验证该算法可以全姿态工作,实时性较强,计算量适中,测量结果满足水准仪测量应用中的需求。

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张振涛
王娟
关键词:  姿态角  角度融合  MPU6050  四元数     
Abstract: 

Using the quaternions to solve attitude transformation matrix, using the three-axis rotation composite into the attitude angle transformation matrix, complete the software design of the algorithm based on the scale transformation in attitude measurement, through the measurement sensor MPU6050 circuit design and programming experiments, and the establishment of the upper machine 3D model, to verify that the method can work full-position, real-time, moderate calculation the measurement results meet the needs of the level measurement application.

Key words:  attitude angle    angle fusion    MPU6050    quaternions  
               出版日期:  2020-03-25      发布日期:  2020-03-25      整期出版日期:  2020-03-25
TP368.1  
引用本文:    
张振涛, 王娟. 一种角度融合算法在姿态角解算中的应用 [J]. 吉林化工学院学报, 2020, 37(3): 73-76.
ZHANG Zhentao, WANG Juan. Application of an Angle Fusion Algorithm in Attitude Angle Solution . Journal of Jilin Institute of Chemical Technology, 2020, 37(3): 73-76.
链接本文:  
https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2020.03.015  或          https://xuebao.jlict.edu.cn/CN/Y2020/V37/I3/73
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