Omnidirectional Spatial Rotation Angle Measurement Method Based on Multi-Sensor Fusion

CAO Jian'an; XIAO Zhizhong; ZHAO Minjie

doi:10.7652/xjtuxb202609001

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Omnidirectional Spatial Rotation Angle Measurement Method Based on Multi-Sensor Fusion

更新时间：2026-09-04

- Omnidirectional Spatial Rotation Angle Measurement Method Based on Multi-Sensor Fusion
- Journal of Xi'an Jiaotong University Vol. 60, Issue 9, Pages: 1-8(2026)
- 作者机构：
  
  西安交通大学电气工程学院，710049，西安
  西安交通大学高能高功率脉冲电源全国重点实验室，710049，西安
- 作者简介：
- 基金信息：
- DOI：10.7652/xjtuxb202609001
  CLC： TM938.81
- Received：03 February 2026，
  
  Online First：12 June 2026，
  
  Published：10 September 2026
- 稿件说明：
移动端阅览
CAO Jian'an, XIAO Zhizhong, ZHAO Minjie. Omnidirectional Spatial Rotation Angle Measurement Method Based on Multi-Sensor Fusion[J]. Journal of Xi'an Jiaotong University,2026,60 (9):1-8. https://doi.org/10.7652/xjtuxb202609001.
DOI：

CAO Jian'an, XIAO Zhizhong, ZHAO Minjie. Omnidirectional Spatial Rotation Angle Measurement Method Based on Multi-Sensor Fusion[J]. Journal of Xi'an Jiaotong University,2026,60 (9):1-8. https://doi.org/10.7652/xjtuxb202609001. DOI：

摘要

针对现有基于三轴倾角传感器的空间旋转角度测量方法在旋转轴接近竖直工况下存在测量局限、难以实现全方位高精度测量的问题，提出了一种融合三轴倾角传感器与三轴磁北传感器的空间全方位旋转角度测量方法。在传统三轴倾角传感器的空间旋转模型基础上，引入磁北传感器旋转模型，建立传感器安装模型，定义位置参数

、

和

，构建传感器输出与空间位置参数及旋转角度之间的关系，推导位置参数拟合方程、旋转角度解算公式及其合成误差表达式，并系统分析各位置参数对合成误差的影响规律。理论分析与实验结果表明：

对合成误差无影响，为非敏感参数；

影响不同解算公式的适用范围，是公式选择的敏感参数；

决定不同传感器的适用范围，是传感器选择的关键参数。基于最小合成误差准则，可实现传感器及解算公式的自适应选择。所提方法有效克服了单一倾角传感器在竖直旋转轴工况下无法测量的局限，实现了旋转轴方向任意、旋转范围达360°的空间全方位角度测量，测量准确度优于0.2°，为空间旋转角度测量方法的研究提供了新思路。

Abstract

To address the limitations of existing spatial rotation angle measurement methods based on triaxial tilt sensors when the rotation axis is close to the vertical direction

which make omnidirectional high-precision measurement difficult

an omnidirectional spatial rotation angle measurement method integrating a triaxial tilt sensor and a triaxial geomagnetic sensor is proposed.Based on the conventional spatial rotation model of a triaxial tilt sensor

a rotation model for the geomagnetic sensor is introduced.A sensor installation model is established

and the position parameters

and

are defined.The relationships among sensor outputs

spatial position parameters

and rotation angle are established

and the fitting equations for the position parameters

the rotation angle calculation formulas

and the composite error expressions are derived.In addition

the effects of the position parameters on the composite error are systematically analyzed.It is shown by theoretical analysis and experimental results that

has no effect on the composite error and is therefore a non-sensitive parameter；

affects the applicable ranges of different calculation formulas and is a sensitive parameter for formula selection；and

determines the applicable ranges of different sensors and is a key parameter for sensor selection.Based on the minimum composite error criterion

adaptive selection of sensors and calculation formulas can be achieved.The limitation that rotation angles cannot be measured by a single tilt sensor when the rotation axis is vertical is effectively overcome by the proposed method

and omnidirectional spatial rotation angle measurement with

an arbitrary rotation-axis direction and a full 360°rotation range is achieved.A measurement accuracy better than 0.2°is achieved

providing a new idea for the study of spatial rotation angle measurement methods.

关键词

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