Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology

A technology of three-dimensional attitude and positioning method, which is applied in ground navigation, navigation through speed/acceleration measurement, navigation calculation tools, etc., and can solve the problem that noise is not considered

Inactive Publication Date: 2010-12-15
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

However, this method does not consider the noise that exists when the acceleration sensor and magnetic field sensor data are valid.

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  • Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology
  • Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology
  • Self-adaptation three-dimensional attitude positioning method based on microinertia and geomagnetic technology

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Embodiment Construction

[0054] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0055] Such as figure 1 It shows that using the three-dimensional micro-inertial and geomagnetic attitude tracking device of the present invention, a group of sensors composed of micro-acceleration sensors, micro-gyroscope sensors and magnetic field sensors are respectively arranged on the X-axis, Y-axis and Z-axis of the three-axis coordinate system, figure 1 "□" means micro-accelerometer, "○" means micro-gyro sensor, Indicates a magnetic field sensor. The inertial and geomagnetic attitude tracking device integrates three micro-acceleration sensors, three micro-gyroscope sensors and three magnetic field sensors in an orthogonal manner. Three-axis coordinate system.

[0056] Such as figure 2 As shown, a positioning ...

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Abstract

The invention discloses a self-adaptation three-dimensional attitude positioning method based on microinertia and a geomagnetic technology, comprising the following steps of: (1) inducing a motion attitude of a carrier by utilizing a sensor of a microinertia measuring device; (2) setting an initial attitude of the microinertia measuring device and accelerated speed and geomagnetic field information under a global coordinate system; (3) solving the attitude value of the microinertia measuring device; (4) predicting the attitude value of the microinertia measuring device by utilizing triaxial micro-gyroscope sensor data; (5) carrying out confidence judgment on the triaxial micro-acceleration sensor data and triaxial magnetic field sensor data, detecting the interference of a surrounding environment, and setting self-adaptation parameters; (6) obtaining the attitude error value of the microinertia measuring device by utilizing the triaxial micro-acceleration sensor data and the triaxial magnetic field sensor data which are processed in the step (5); (7) fusing the attitude predictive value obtained from the step (4), corrected information obtained from the step (6) and the self-adaptation parameters obtained from the step (5) to obtain the attitude value of the microinertia measuring device; and (8) outputting attitude information.

Description

technical field [0001] The invention belongs to the technical field of three-dimensional attitude control, and relates to an efficient self-adaptive three-dimensional attitude positioning method based on micro-inertia and geomagnetic technology. Background technique [0002] With the development of micro-electro-mechanical systems (MEMS), especially the development of micro-inertial technology, the pose acquisition of the carrier has developed from the original platform inertial navigation to strapdown inertial navigation and integrated navigation technology. The cost is greatly reduced, so the use of inertial / geomagnetic technology for attitude tracking and detection has broad prospects. At present, quite a few micro-inertial attitude measurement devices have been designed at home and abroad for attitude measurement and tracking. The applicant provided a micro-inertial measurement device based on ZigBee wireless single-chip microcomputer in the Chinese patent application nu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/08G01C21/20
Inventor 杜清秀弭鹏
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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