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Genetic algorithm-based calibration method for inertial/geomagnetic sensors

A geomagnetic sensor and calibration method technology, applied in the field of three-dimensional attitude tracking, can solve the problem of not giving a method for aligning the coordinate system of a three-axis micro-acceleration sensor, not giving a calibration method for a magnetic sensor and a gyroscope sensor, random sampling data, etc. question

Active Publication Date: 2014-05-07
INST OF AUTOMATION CHINESE ACAD OF SCI
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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

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  • Genetic algorithm-based calibration method for inertial/geomagnetic sensors
  • Genetic algorithm-based calibration method for inertial/geomagnetic sensors
  • Genetic algorithm-based calibration method for inertial/geomagnetic sensors

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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,...

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Abstract

Disclosed is an inertia / geomagnetism sensor calibration method based on a genetic algorithm. The method includes the following steps: 1, starting up an attitude tracking unit; 2, collecting static data and dynamic data of each sensor; 3, separating the static data and the dynamic data; 4, calibrating the zero drift factors, scale factors and orthogonality parameters of a three-axis geomagnetism sensor and a three-axis micro-acceleration sensor; 5, calibrating an alignment matrix from the three-axis geomagnetism sensor to the coordinate system of the three-axis micro-acceleration sensor; 6, calibrating the zero drift factor of a three-axis micro-gyroscope sensor; and 7, calibrating the scale factor and orthogonal matrix of the three-axis micro-gyroscope sensor. The present invention can calibrate an attitude tracking unit composed of a three-axis micro-acceleration sensor, a three-axis micro-acceleration sensor and a three-axis geomagnetism sensor rapidly and briefly.

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...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005G01C17/38
Inventor 杜清秀李文明弭鹏
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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