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2013•Unpublished venueRequires access

A fusion attitude determination method based on quaternion for MEMS gyro/accelerometer/magnetometer

Yongjie Zhou, Haiyun Zhang, Tao Zhang, Leigang Wang, Ren Wei, Mengkai Luan, Huifeng Liu, Jingwei Shi

Open publisher page 10 citations

Abstract

With the development of new technologies and market demand changing, MEMS gyroscope has been widely used. But low accuracy, large drift and other defects limit its application in some areas. This paper presents an attitude fusion algorithm based on the MEMS gyroscope, MEMS accelerometer and MEMS magnetometer. Firstly, the error model of the MEMS gyroscope was established, and rotation vector method to determine the gyro attitude was introduced. Then the state equation and observation equation of the designed Kalman filter was derived. Finally, experimental results illustrated the effectiveness of the fusion algorithm. That is, with the proposed fusion attitude determination algorithm, it is able to compensate gyro drift and provide a reliable and stable attitude for a long time.

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What this paper is about

With the development of new technologies and market demand changing, MEMS gyroscope has been widely used. But low accuracy, large drift and other defects limit its application in some areas. This paper presents an attitude fusion algorithm based on the MEMS gyroscope, MEMS accelerometer and MEMS magnetometer. Firstly, the error model of the MEMS gyroscope was established, and rotation vector method to determine the gyro attitude was introduced. Then the state equation and observation equation of the designed Kalman filter was derived. Finally, experimental results illustrated the effectiveness of the fusion algorithm. That is, with the proposed fusion attitude determination algorithm, it is able to compensate gyro drift and provide a reliable and stable attitude for a long time.

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Available abstract

With the development of new technologies and market demand changing, MEMS gyroscope has been widely used. But low accuracy, large drift and other defects limit its application in some areas. This paper presents an attitude fusion algorithm based on the MEMS gyroscope, MEMS accelerometer and MEMS magnetometer. Firstly, the error model of the MEMS gyroscope was established, and rotation vector method to determine the gyro attitude was introduced. Then the state equation and observation equation of the designed Kalman filter was derived. Finally, experimental results illustrated the effectiveness of the fusion algorithm. That is, with the proposed fusion attitude determination algorithm, it is able to compensate gyro drift and provide a reliable and stable attitude for a long time.

Key concepts: Gyroscope, Vibrating structure gyroscope, Quaternion, Accelerometer, Kalman filter, Microelectromechanical systems, Control theory (sociology), Magnetometer

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