李孟委, 徐文武, 张鹏.基于四元数互补滤波算法的车载MIMU[J].河南理工大学学报（自然科学版）,2021,40(1):111-117.

LI M W, XU W W, ZHANG P.Vehicle-borne MIMU based on quaternion complementary filtering algorithm[J].Journal of Henan Polytechnic University(Natural Science) ,2021,40(1):111-117.

基于四元数互补滤波算法的车载MIMU

李孟委, 徐文武, 张鹏

中北大学 仪器与电子学院，山西 太原 030051

摘要:针对MEMS惯性器件由于测量精度低、数据易漂移而导致车载惯性导航系统姿态解算数据不稳定和精度不高的问题，设计一种基于四元数互补滤波算法的高精度车载MEMS惯性测量单元（MIMU）。通过四元数算法降低MIMU在运行过程中的计算难度，解决姿态解算中的奇点问题。利用互补滤波算法对惯性传感器运行过程中的高低频误差进行动态补偿、数据融合，减小陀螺仪积分漂移累加，抑制加速度计振动误差，实现多传感器数据融合的MIMU姿态解算。将MIMU放置于高精度无磁转台上进行动态测试，通过设置转台运行动作模拟车载环境，采集并分析MIMU在动态环境中的各个轴向角实时数据与误差数据。试验结果表明，MIMU横滚角精度为0.26°，俯仰角精度为0.23°，航向角精度为0.51°。

关键词:惯性导航;四元数;互补滤波;姿态解算;MEMS器件

doi:10.16186/j.cnki.1673-9787.2019080073

基金项目:军委装备发展部预研基金资助项目（41403010305 ）；装备预研兵器工业联合基金资助项目（6141B012907）

收稿日期:2019/08/22

修回日期:2019/11/28

出版日期:2021/01/15

Vehicle-borne MIMU based on quaternion complementary filtering algorithm

LI Mengwei, XU Wenwu, ZHANG Peng

College of Instruments and Electronics， Zhongbei University， Taiyuan 030051 ， Shanxi， China

Abstract:In order to solve the problems of instability and low precision of attitude calculation data of vehicle- borne inertial navigation system caused by low measurement accuracy and data drift of MEMS inertial devices， a high-precision vehicle-borne MEMS inertial measurement unit （ MIMU ） based on quaternion complementary filtering algorithm was designed. Quaternion algorithm was used to reduce the computational difficulty of MIMU in operation and to solve the singularity problem in attitude calculation. The complementary filtering algorithm was used to compensate the high and low frequency errors of inertial sensors dynamically and to fuse the data， to reduce the accumulation of gyroscope integral drift， to restrain the vibration errors of accelerometers， and to realize MIMU attitude calculation of multi-sensor data fusion. The MIMU was placed on a high-precision nonmagnetic turntable for dynamic testing. The real-time data and error data of each axis angle of MIMU in the dynamic environment were collected and analyzed by setting up the turntable operation to simulate the vehicle environment. The experimental results showed that the roll angle accuracy of MIMU was 0. 26°， the pitch angle accuracy was 0.23° and the heading angle accuracy was 0.51°.

Key words:inertial navigation;quaternion;complementary filtering;attitude solution;MEMS device

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