基于六轴惯性传感器的短时运行姿态高精度测量系统研究

Research on a High-Precision Measurement System for Short-Term Operation Attitude Based on Six-Axis Inertial Sensors

摘要: 该研究提出基于六轴惯性传感器的短时运行姿态高精度测量系统，采用以加速度为核心数据的复化积分测量方法，实现位移量的高精度测量。系统总体设计包含数据采集、预处理、算法运算模块，加速度数据经下位机处理后传输至上位机，结合复化辛普森积分算法完成位移量计算。研究分析了时域、频域、复化积分法的原理，验证了复化辛普森积分在抑制误差中的优势。实验结果表明，该系统可满足短时运行姿态测量的精度要求。

Abstract: A high-precision measurement system for short-term operation attitude based on six-axis inertial sensors is proposed in this paper. The system uses a compound integral measurement method with acceleration as core data to achieve high-precision measurement of vertical displacement. The overall design includes data acquisition, preprocessing, and algorithm operation modules. Acceleration data is processed by a lower computer and transmitted to an upper computer, and the vertical displacement is calculated using the compound Simpson integral algorithm. The principles of time-domain, frequency-domain, and compound integral methods are analyzed, and the advantage of compound Simpson integral in error suppression is verified. Experimental results show that the system meets the precision requirements for short-term operation attitude measurement.