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一种具有动态误差自适应补偿功能的角度定向测量方法。

A Method for Measuring Angular Orientation with Adaptive Compensation of Dynamic Errors.

作者信息

Dichev Dimitar, Zhelezarov Iliya, Georgiev Borislav, Karadzhov Tsanko, Dicheva Ralitza, Hasanov Hasan

机构信息

Department of Machine and Precision Engineering, Technical University of Gabrovo, 4 H. Dimitar Str., 5300 Gabrovo, Bulgaria.

Center of Competence "Smart Mechatronic, Eco-and Energy-Saving Systems and Technologies", Technical University of Gabrovo, 5300 Gabrovo, Bulgaria.

出版信息

Sensors (Basel). 2025 Aug 9;25(16):4922. doi: 10.3390/s25164922.

DOI:10.3390/s25164922
PMID:40871786
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC12389950/
Abstract

This article presents an integrated method for measuring the angular orientation of moving objects, combining a simplified mechanical structure to reduce instrumental errors with a hardware-software platform for adaptive compensation of dynamic errors. Unlike existing approaches, the method avoids inertial element stabilization by using an adaptive Kalman structure for real-time correction. Based on this method, a measuring system for determining roll and pitch has been developed and implemented using a two-channel measurement model with two independent signals and MEMS sensors. The accuracy of the system has been experimentally validated in both static and dynamic modes through a highly accurate reference system with traceability to international standards. A metrologically based methodology for quantitative assessment has also been developed, applying both the theory of error and the theory of uncertainty to provide an objective, reproducible, and traceable evaluation under real-world conditions.

摘要

本文提出了一种用于测量移动物体角向的集成方法，该方法将简化的机械结构与用于动态误差自适应补偿的硬件 - 软件平台相结合，以减少仪器误差。与现有方法不同，该方法通过使用自适应卡尔曼结构进行实时校正来避免惯性元件的稳定化。基于此方法，利用具有两个独立信号的双通道测量模型和MEMS传感器，开发并实现了一种用于确定横滚和俯仰的测量系统。该系统的精度已通过具有国际标准可追溯性的高精度参考系统在静态和动态模式下进行了实验验证。还开发了一种基于计量学的定量评估方法，应用误差理论和不确定度理论，以在实际条件下提供客观、可重复和可追溯的评估。

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