Genetic algorithm-based calibration method for inertial/geomagnetic sensors
A geomagnetic sensor and calibration method technology, which is applied in the field of three-dimensional attitude tracking, can solve the problems of not providing a calibration method for magnetic sensors and gyroscope sensors, random sampling data, and not providing a method for aligning the coordinate system of a three-axis micro-acceleration sensor, etc. question
Active Publication Date: 2012-06-20
INST OF AUTOMATION CHINESE ACAD OF SCI
View PDF3 Cites 41 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
But this method does not provide the calibration method of magnetic sensor and gyroscope sensor; Also does not provide the method for the coordinate system alignment between three-axis micro-acceleration sensor, three-axis micro-gyroscope sensor and three-axis geomagnetic sensor; And this method The sampling data is random
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0020] 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.
[0021] figure 1 The composition of the pose tracking unit for calibration in the present invention is shown. The attitude tracking unit integrates a three-axis acceleration sensor, a three-axis micro-gyroscope sensor and a three-axis magnetic sensor. The orthogonal axes on which the three sets of sensors are located constitute the three-axis coordinate system of the unit's X-axis, Y-axis and Z-axis.
[0022] figure 2 A classical three-axis sensor error model is shown. The output of the three-axis MEMS sensor is the vector y k , the actual sensor input data is u k , where k represents the type of sensor, k={a, m, g}, a, m, and g respectively represent a three-axis acceleration sensor, a three-axis geomagnetic sensor,...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more PUM
Login to view more Abstract
The invention discloses a genetic algorithm-based calibration method for inertial / geomagnetic sensors, in particular to a method for calibrating an attitude tracking unit which integrates a three-axis micro-acceleration sensor, a three-axis micro-gyroscope sensor and a three-axis geomagnetic sensor. The method comprises the following steps of: (1) acquiring data of the sensors in an all-attitude state by using a self-designed two-axis non-magnetic turntable; (2) calibrating null shifts, scale factors and orthogonal parameters of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor by using the principle that the modulus values of data outputted by the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor under static conditions are constant; (3) calibrating alignment parameters of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor by using the spatial rotation angle of a cross product vector of the data of the three-axis micro-acceleration sensor and the three-axis geomagnetic sensor; (4) calibrating the null drift parameter of the three-axis micro-gyroscope sensor based on the calibrated three-axis micro-acceleration sensor; and (5) calibrating the scale factor and the orthogonal parameter of the three-axis micro-gyroscope sensor based on the data of the three-axis micro-gyroscope sensor and a rotation angle provided by the turntable. The invention provides a fast and concise calibration method.
Description
technical field [0001] The invention belongs to the field of three-dimensional attitude tracking, and in particular relates to a calibration method for error parameter compensation of an attitude tracking unit including inertial / geomagnetic sensors such as a three-axis micro-acceleration sensor, a three-axis micro-gyroscope sensor, and a three-axis geomagnetic sensor. 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. Recently, Apple's iPhone and Android phones have added MEMS three-axis micro-acceleration sensors, and the three-axis geomagnetic sensor is used to obtain the attitud...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more Application Information
Patent Timeline
Login to view more Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C17/38G01C25/00G01C25/005
Inventor 杜清秀李文明弭鹏
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
Who we serve
- R&D Engineer
- R&D Manager
- IP Professional
Why Eureka
- Industry Leading Data Capabilities
- Powerful AI technology
- Patent DNA Extraction
Social media
Try Eureka
Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.
© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap