Abstract: The stability of gimbal has great influence on carrying equipment’s accuracy. In order to make gimbal keep balance, a self-stabilization control method of gimbal based on multi-sensor data fusion is proposed. AHRS(Attitude and heading reference system) based on three-axis gyroscope, accelerometer and geomagnetic is adopted to obtain angular velocity, acceleration and geomagnetic intensity. Kalman filter algorithm is used to filter the acceleration and quaternion is adopted to fuse three kinds of information to get gimbal’s pitch and yaw angle. The control method is cascade double closed-loop PID. Experimental results show that this method make the gimbal remain stable in a complex environment with high accuracy and anti-jamming capability at the same time the overshot is small and robustness is strong.

Key words:

Quaternion; gyroscope, accelerometer, geomagnetic, attitude estimation, Kalman filter algorithm

摘要： 云台的稳定性对搭载的设备有重要影响，为实现云台自稳，设计了一种基于多传感器数据融合的云台自稳控制方法。采用三轴陀螺仪、三轴加速度计、三轴地磁的(Attitude and Heading Reference System，AHRS)系统获取角速度、加速度及地磁强度等信号，采用卡尔曼滤波算法对加速度进行处理，采用四元数对三种数据进行融合，并求解云台俯仰姿态角和偏航姿态角，使用串级双闭环PID作为控制策略。实验结果表明，该方法能够使云台在复杂环境下具有较高的精度和抗干扰能力，同时具有超调量小、鲁棒性强的特点。

关键词: 四元数, 陀螺仪, 加速度计, 地磁计, 姿态解算, 卡尔曼滤波