中文摘要：

针对蛇形机器人姿态解算问题,陀螺存在漂移特性,加速度计的测量值包含重力加速度和运动加速度,磁强计易受周围环境地磁干扰,并且蛇形机器人采用嵌入式微处理器,需要减少计算量.设计了用互补滤波器来实现惯性传感器的数据融合,用四元数进行姿态解算的方法.经过实验验证表明：采用互补滤波和四元数进行姿态解算能有效融合各个惯性传感器的数据,计算量小,能够满足蛇形机器人对精度和实时性的要求.

英文摘要：

Aiming at problem of attitude calculation of snake-like robot, gyro exists drift characteristics, measured value of accelerometer includes gravity and motion acceleration, magnetometer vulnerable to ambient geographic magnetic interference, and snake-like robot use embedded microcontrollers,which reduce the need of computation amount. Therefore, design inertial sensor data fusion is achieved with complementary filtering and attitude calculation is carried out with quaternion method. Experimental verification show that using complementary filtering and quaternion method can effectively fuse sensor datas, amount of calculation is small, and can meet requirements of precision and real-time for snake-like robot.