55results about How to "Improve attitude measurement accuracy" patented technology

A miniature combined attitude measuring system for small satellite is composed of a combined inertial-magnetic measuring unit, a signal processing circuit and a satellite carried computer for storing data and program. Said measuring unit has 3 sensor sets based on microelectromachinal system. Each sensor set has microgyroscope, microaccelerometer and micromagnetometer. Its advantages are high real-time performance, high reliability and high anti-interference power.

The invention provides miniaturized radar dynamic attitude measurement equipment, which comprises a box body 1, and a fiber-optic gyroscope combination 2, an accelerometer 3, an IF plate 4, a main control board 5 and a power supply module 6 which are arranged in the box body 1, wherein the fiber-optic gyroscope combination 2 is used for measuring triaxial angular rate data in real time; the accelerometer 3 is used for measuring acceleration data in a carrier movement process, converting an accelerometer signal into a current signal, outputting the current signal to the IF board 4, converting the current signal output by the accelerometer into a pulse signal, and outputting the pulse signal to the main control board 5; the main control board 5 is used for receiving and collecting triaxial angular rate data measured by the fiber-optic gyroscope combination 2 and acceleration data measured by the accelerometer 3, and carrying out dynamic attitude measurement; the power supply module 6 is used for converting an input direct-current power supply into a power supply required by each component in the product; and the main control board 5 is specifically used for carrying out attitude correction on triaxial angular rate data measured by the fiber-optic gyroscope combination 2 and acceleration data measured by the accelerometer 3 through a complementary filter to obtain attitude information.

The invention discloses an adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, the horizontal attitude angle is used as a state variable, and the angular velocity increment Δω of random constant value zero offset is compensated. b As the control input of the system equations, the specific force f to compensate for the random constant zero bias b As a quantity measurement, at the same time, the judgment conditions of the carrier maneuvering state are improved, and the acceleration information and angular velocity information output by the MEMS-IMU are comprehensively used to judge the carrier maneuvering information, and the automatic adjustment of the filter measurement noise array is realized, which effectively reduces the The effect of vehicle maneuvers on the horizontal attitude solution. This method has no special requirements on the maneuvering state of the carrier, and can ensure that the system has a high attitude measurement accuracy in different motion states without the assistance of external information.

The invention discloses a measuring method for disturbance acceleration in attitude estimation of an aircraft. The method comprises the following steps: acquiring the attitude quaternion of the aircraft and acquiring measured acceleration in a body-axis coordinate system; acquiring disturbance acceleration in a reference coordinate system according to the attitude quaternion and the measured acceleration in the body-axis coordinate system and then acquiring discrete disturbance acceleration; and subjecting the discrete disturbance acceleration to segmented processing, then carrying out first-order low-pass filtering, and then transferring the processed discrete disturbance acceleration to the body-axis coordinate system for subtraction by the measured acceleration in the body-axis coordinate system so as to obtain accurate aircraft acceleration without the disturbance acceleration. Compared with the prior art, the measuring method provided by the invention is low in cost, needs no GPS sensor for measurement and can improve the attitude measurement precision of subsequent multi-sensor fusion technology.

The invention provides a high-precision carrier dynamic attitude measurement method and system, which includes two micro-electromechanical inertial measurement units, one of which adopts a double-position reciprocating indexing method, and the other adopts a method of being fixedly connected with the carrier. Introduce the relative attitude, position, and velocity between two MEMS IMUs as new observations, and effectively estimate the zero bias of the gyroscope and accelerometer of the two MEMS IMUs, so that the two sets of IMUs can be better The system compensates. The MEMS inertial measurement unit fixedly connected to the carrier is used as the attitude output inertial navigation, which successfully eliminates the phenomenon of peak jumps in the attitude calculation results caused by the reciprocating rotation of the first MEMS inertial measurement unit, and improves the overall system. accuracy. During the use of the present invention, accurate position information is not required to be introduced, so satellite signals do not need to be introduced, so that the system has better anti-interference performance, stability and concealment.