引用本文: 余晨雨, 章政, 黄卫华, 李宇峰, 郭庆瑞. 基于互补滤波和粒子滤波融合的球形机器人姿态解算[J]. 机器人, 2021, 43(3): 340-349.
YU Chenyu, ZHANG Zheng, HUANG Weihua, LI Yufeng, GUO Qingrui. Attitude Calculation Based on the Fusion of Complementary Filter and Particle Filter for Spherical Robot[J]. ROBOT, 2021, 43(3): 340-349.
 Citation: YU Chenyu, ZHANG Zheng, HUANG Weihua, LI Yufeng, GUO Qingrui. Attitude Calculation Based on the Fusion of Complementary Filter and Particle Filter for Spherical Robot[J]. ROBOT, 2021, 43(3): 340-349.

## Attitude Calculation Based on the Fusion of Complementary Filter and Particle Filter for Spherical Robot

• 摘要: 针对球形机器人在运动控制中难以实时、准确地获取机器人的位置和姿态估计精度的问题，提出了一种基于互补滤波和粒子滤波相融合的姿态解算算法．为了避免使用磁力计数据参与四元数计算时俯仰角和横滚角误差较大的问题，使用陀螺仪和磁力计互补滤波算法单独对球形机器人的偏航角进行解算，同时，通过信息熵评估磁力计噪声大小，动态调整磁力计在互补滤波中的权值．实验结果表明，在外部磁场干扰实验中，偏航角误差在3°以内，在球形机器人动态和静态实验中，偏航角误差在0.3°左右，俯仰角和横滚角误差能够控制在0.1°之内．因此，该算法能够保证球形机器人姿态解算的实时性，增强准确性和和抗干扰能力，有效提高球形机器人运动控制的精度．

Abstract: Aiming at the difficulty in obtaining the accuracy of position and attitude estimation of spherical robot in real time and accurately in motion control, an attitude calculation algorithm based on the fusion of complementary filter and particle filter is presented. In order to avoid the problem of the large error in pitch and roll angles caused by magnetometer data participating in the quaternion calculation, the yaw angle of the spherical robot is calculated by the complementary filtering of gyroscope and magnetometer independently. And the weight of the magnetometer in the complementary filtering is adjusted dynamically by evaluating the noise of the magnetometer using information entropy. Experimental results show that, the error of the yaw angle is less than 3° in the external magnetic field interference experiment. And it is about 0.3° in the dynamic and static experiments of the spherical robot, and the errors of pitch and roll angles can be controlled within 0.1°. Therefore, the algorithm can guarantee the real-time performance of the attitude calculation of the spherical robot, enhance the accuracy and the anti-interference ability, and effectively improve the motion control precision of the spherical robot.

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