国产欧美精品一区二区,中文字幕专区在线亚洲,国产精品美女网站在线观看,艾秋果冻传媒2021精品,在线免费一区二区,久久久久久青草大香综合精品,日韩美aaa特级毛片,欧美成人精品午夜免费影视

In order to realize precision determination of attitude, a novel data fusion algorithm, replacing the traditional Kalman filter, is designed in this paper. Firstly, methods of detecting attitude, respectively based on gyroscope, accelerometer and magnetometer, are discussed. The deviation derived from measurement results is analyzed via trials. Considering the different spectrum of deviations due to different sensors, the idea of complementary filter is then proposed. A novel model of data fusion algorithm is further inferred behind the second order low-pass filter. Finally, taking FPGA as processor, MEMS unit and a magnetic compass constructed as sensor module, a small attitude determination system is developed to evaluate whether the module is practicable and whether to reach required accuracy. Experiments upon the tri-dimension rotated platform show that the deviation of result is no more than ±0.07° compared to Kalman filter. Besides, this model is not required known the accuracy noise feature. With respect to the consumed time of algorithms working on the hardware, time required on complementary filter is 360μs, and Kalman filter is 3 times more than it. Thus, the presented algorithm has high efficiency.