42results about How to "Accurate pose estimation" patented technology

This invention relates to a method and system for gyroscope attitude estimation and error compensation based on SO(3) complementary filtering. The method includes: establishing an attitude estimation model on the SO(3) group, representing the carrier attitude as an estimated rotation matrix satisfying orthogonal constraints, and designing a cost function that includes accelerometer and magnetometer information; collecting sensor data from the inertial measurement unit; calculating the corrected angular velocity based on the cost function and the current sensor measurement values, and converting the sensor measurement deviation into a correction amount on the SO(3) group using vector cross product operation; using the corrected angular velocity to estimate and update the gyroscope zero bias online, and performing real-time tracking and compensation for gyroscope drift; performing matrix exponential mapping operation on the compensated angular velocity using the Rodrigues formula to achieve incremental updates of the rotation matrix while maintaining SO(3) manifold constraints; and outputting the estimated attitude information and gyroscope zero bias. This invention improves numerical stability and computational accuracy.