中文摘要：

针对采用双轴倾角传感器实现空间旋转角度测量的解析方法难以测量全方位旋转角度的问题,提出了一种改进的空间全方位旋转角度测量方法（IODSRA）。该方法在倾角传感器测量轴绕刚体旋转轴旋转的空间模型基础上,增加了一个沿原传感器法向量方向的单轴倾角传感器,以提高角度测量的灵敏度,改进了求解传感器空间位置参数的方法,获得空间位置参数;然后通过多个旋转方程的优化,得出最佳的空间全方位旋转角度。仿真和实验结果均表明,与其他实现空间旋转角度测量方法相比,IODSRA方法可实现在±180°范围内测量,其检测准确度达到0.2°的测量要求。

英文摘要：

An improved method （IODSRA） to measure omni-direstional spatial rotation angles is proposed to focus on the problem, that the analytical approach for measurement of spatial angle with dual-axis inclination sensor can＇t measure the omni-directional rotation angle. It is based on the space model that measurement axis of inclination sensor rotates around measurement axis of rigid body, and the method improyes the sensitivity of measuring angles and obtains spatial position parameters by applying a single axis inclinometer in the direction of normal vector of existed sensor. The optimal rotational angle measurement is acquired by taking full advantage of several rotation equations. Experimental results show that the IODSRA method achieves the measurement of the omni-directional spatial rotation angle while other algorithms are unable, and that detection accuracy can be controlled under 0. 2° and meets requirements.