doi:10.16186/j.cnki.1673-9787.2019080073

Received:2019/08/22

Revised:2019/11/28

Published: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

 基于四元数互补滤波算法的车载MIMU_李孟委.pdf