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Fine Alignment Algorithm Based on AHRS

An algorithm and axial technology, applied in the field of AHRS-based fine alignment algorithm, can solve the problems of low error estimation accuracy and slow convergence of fine alignment technology, so as to increase alignment accuracy, highlight substantive features, and improve convergence speed effect

Inactive Publication Date: 2016-01-20
成都市星达通科技有限公司
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Problems solved by technology

[0003] The purpose of the present invention is to provide a fine alignment algorithm based on AHRS, which mainly solves the problems in the prior art that the fine alignment technology converges slowly, the accuracy of error estimation is not high, and cannot meet people's needs

Method used

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  • Fine Alignment Algorithm Based on AHRS
  • Fine Alignment Algorithm Based on AHRS

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Embodiment

[0026] In order to solve the problems in the prior art that the fine alignment technology converges slowly, the error estimation accuracy is not high, and cannot meet people's needs, the present invention discloses a fine alignment algorithm based on AHRS, which is realized by the following steps:

[0027] Step 1: Obtain latitude information and gravitational acceleration information through external equipment, such as longitude and latitude measuring instruments and gravitational acceleration measuring instruments;

[0028] The second step: perform coarse alignment, that is, use the output of the accelerometer and gyroscope in the AHRS (Attitude Heading Reference System) to measure the current attitude transfer matrix C bp , the accuracy of the attitude transfer matrix is ​​poor at this time;

[0029] according to g → t = 0 ...

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Abstract

The invention discloses a fine alignment algorithm based on an AHRS (Attitude and Heading Reference System), which mainly solves the problem that the fine alignment technology in the prior art is low in convergence speed and not high in error estimation precision and can not meet demands of people. According to the fine alignment algorithm based on an AHRS, the error of an attitude angle is solved through Kalman filtering by taking outputs of an accelerometer in two directions and outputs of a gyroscope in three directions as observed values, thus performing fine alignment. According to the scheme, the algorithm achieves the purposes of high convergence speed and high precision, and has very high practical value and popularization value.

Description

technical field [0001] The invention relates to an alignment algorithm in the navigation field, in particular to an AHRS-based fine alignment algorithm. Background technique [0002] The traditional fine alignment technology has relatively few observations, and most of them only use east and north speeds as observations or only east and north accelerometers as observations. Although this alignment method has a certain degree of error in the attitude angle Estimation, but the convergence is very slow, and the error estimation accuracy is not high. Most of the existing technologies use the output of multi-sensors as the observation value, and use the east and north velocities and the angular velocity of the gyroscope in three directions as the observation values, so as to improve the convergence speed and accuracy, but this method The alignment is still relatively limited and cannot meet people's needs. Contents of the invention [0003] The purpose of the present inventio...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 李玉柏王坚李桓
Owner 成都市星达通科技有限公司
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