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요약정보
基于决策树的自适应互补滤波姿态解算.
Resource Type
Article
Authors
李瑞
;
王伟
;
唐龙鑫
;
李洁
Source
Science Technology & Engineering
. 2024, Vol. 24 Issue 4, p1538-1545. 8p.
Subject
Language
Chinese
ISSN
1671-1815
Online Access
Find it @ DONGA
초록
为解决惯性传感器在磁场干扰和大加速度干扰坏境下姿态解算精度下降的问题, 提出一种基于决策树自适应的互 补滤波姿态解算方法。 针对陀螺仪特性, 对其进行零偏补偿处理。 将处理后的角速度数据与加速度数据构成静态检测单元, 实现了静态情况和动态情况的准确分类。 在动态情况下, 由加速度数据和磁场数据组成的决策树通过分析外界干扰程度来 自主调节系统误差增益, 进而达到抗干扰目的, 有效提高姿态解算精度。 实验结果表明:静态情况下姿态解算不受磁场干扰, 动态情况下能够有效避免磁场和大加速度干扰。 [ABSTRACT FROM AUTHOR]
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