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基于卡爾曼濾波的兩輪平衡姿態(tài)檢測系統設計
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新疆工程學(xué)院 信息工程學(xué)院

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TP24

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Design of two-wheel balance attitude detection system based on Kalman filter
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    摘要:

    針對傳統兩輪平衡檢測系統易受噪聲等環(huán)境因素影響,導致測量產(chǎn)生誤差的現象,提出基于卡爾曼濾波的兩輪平衡系統設計。選擇SCA610-CA1H1G型號姿態(tài)傳感器,以MEMS技術(shù)為基礎設計姿態(tài)傳感器結構,具備可選擇的多種數據輸出模式。選取36V電源將3個(gè)12V12AH的鉛酸電池利用串聯(lián)在一起,為系統提供充足電源。設計主控芯片Pentium II/III/4系列CPU,將它的狀態(tài)信息描述和對外輸出。設計基于卡爾曼濾波的去噪流程,構建誤差修正模型,通過(guò)四元數轉旋轉矩陣轉移到當前設備坐標系上處理,由此獲取姿態(tài)矩陣從本體坐標系旋轉到另一個(gè)坐標系的過(guò)程,對測量數值進(jìn)行歸一化處理,可得到無(wú)量綱標量。使用定時(shí)采樣三階逼近法,更新四元數,完成姿態(tài)檢測。由實(shí)驗結果可知,無(wú)論是在0-15dB噪聲環(huán)境,還是15-30dB噪聲環(huán)境下,系統監測精準度最高為92%,為汽車(chē)、航天領(lǐng)域提供設備支持。

    Abstract:

    Aiming at the phenomenon that the traditional two wheel balance detection system is easy to be affected by environmental factors such as noise, resulting in measurement error, a two wheel balance system design based on Kalman filter is proposed. Sca610-ca1h1g attitude sensor is selected and the structure of attitude sensor is designed based on MEMS technology. It has a variety of optional data output modes. Three 12v12ah lead-acid batteries were connected in series with 36V power supply to provide sufficient power for the system. The main control chip Pentium II / III / 4 Series CPU is designed, and its state information is described and output. The denoising process based on Kalman filter is designed, and the error correction model is constructed. The quaternion rotation matrix is transferred to the current equipment coordinate system for processing. The process of the attitude matrix rotation from the body coordinate system to another coordinate system is obtained. The measured values are normalized and the dimensionless scalar is obtained. The quaternion is updated and the attitude detection is completed by using the timing sampling third-order approximation method. According to the experimental results, the highest monitoring accuracy of the system is 92% in 0-15db noise environment or 15-30db noise environment, which provides equipment support for automobile and aerospace fields.

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賈勇,陳曉飛.基于卡爾曼濾波的兩輪平衡姿態(tài)檢測系統設計計算機測量與控制[J].,2020,28(12):53-56.

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  • 收稿日期:2020-10-27
  • 最后修改日期:2020-10-27
  • 錄用日期:2020-11-02
  • 在線(xiàn)發(fā)布日期: 2020-12-15
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