Unscented Kalman filter-based method for tracking inertial pose according to acceleration compensation

An unscented Kalman, acceleration technology, applied in directions such as navigation through velocity/acceleration measurement, can solve the problem of not considering the influence of the device system accuracy, and the accuracy cannot be guaranteed.

Inactive Publication Date: 2010-06-09
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

However, unfortunately, this method still does not consider the influence of the acceleration of the device itself on the accuracy of the system, so its accuracy cannot be guaranteed in some cases

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  • Unscented Kalman filter-based method for tracking inertial pose according to acceleration compensation
  • Unscented Kalman filter-based method for tracking inertial pose according to acceleration compensation
  • Unscented Kalman filter-based method for tracking inertial pose according to acceleration compensation

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Embodiment Construction

[0067] An inertial pose tracking method considering acceleration compensation and unscented Kalman filtering of the present invention adopts such as figure 1 The shown structure mainly includes the following steps:

[0068] 1) Initial attitude calibration (1): Keep the device fixed, the current attitude is called the initial attitude, and the coordinate system determined by the three orthogonal axes of the device is used as the world reference coordinate system; Axis magnetoresistive sensor data to obtain the initial acceleration vector a described in the world coordinate system o =[a ox , a oy , a oz ] T and the magnetic field vector m o =[m ox , m oy , m oz ] T ;

[0069] 2) Collect the data of the three-axis gyroscope (2-1), the three-axis acceleration sensor (2-2) and the three-axis magnetoresistive sensor (2-3) at time k to obtain the current rotation angular velocity vector described in the device coordinate system ω t (k)=[ω tx (k), ω ty (k), ω tz (k)] T...

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Abstract

The invention provides an unscented Kalman filter-based method for tracking an inertial pose according to acceleration compensation, which is used for an inertial measurement unit integrating a three-axis micro-gyroscope, a three-axis micro-accelerometer and a three-axis magnetoresistive sensor, and realizes pose tracking estimation on a device carrier by using rotary angular velocity vectors, acceleration vectors and magnetic field sensor vectors which are detected by the device by means of filter technology. The method comprises the following steps: 1) treating the acceleration vectors as combination of the acceleration vectors and gravity acceleration vectors of the device carrier self, and constructing observation equations respectively for amplitude and normalized direction vectors of the acceleration vectors and the gravity acceleration vectors; 2) describing quaternion, accumulated error vectors of the gyroscope and the acceleration vectors of the device carrier self by using the pose to construct a system state vector; and 3) realizing a filter estimating process of the system by using the unscented Kalman filter technology because of nonlinearity of the observation equations. Compared with the conventional method ignoring the acceleration of the carrier self, the method not only can provide a more accurate estimation result, but also widens the application range of the system.

Description

technical field [0001] The invention relates to the technical field of attitude perception of inertial devices, and is an attitude perception and estimation method of an inertial device suitable for integrating a three-axis gyroscope, a three-axis accelerometer and a three-axis magnetic field sensor. Unscented Kalman Filter (UKF, Unscented Kalman Filter) inertial pose tracking method. Background technique [0002] The use of electromechanical inertial measurement combined technology to track the motion carrier pose has a very broad prospect. The basic principle of the inertial tracking system is based on the known initial position and attitude of the target, according to the principle of inertia, using inertial sensitive components such as gyroscopes and accelerometers to measure the angular velocity and linear acceleration of the object's motion, and then obtain the position and linear acceleration of the object through integration. attitude. Due to the cumulative error e...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18
Inventor 杜清秀邹伟原魁
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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