High-precision attitude data calculation method for AHRS (Attitude and Heading Reference System)

A data calculation and high-precision technology, applied in navigation calculation tools and other directions, can solve problems such as large errors in attitude data, limited accuracy of accelerometers and gyroscopes, etc.
CN103499348AInactive Publication Date: 2014-01-08成都市星达通科技有限公司
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
成都市星达通科技有限公司
Publication Date
2014-01-08
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses a high-precision attitude data calculation method for an AHRS (Attitude and Heading Reference System), mainly solving the problems that as an accelerometer and a gyroscope are finite in precisions and have accumulative errors, the obtained attitude data errors are large and cannot meet technical requirements in the prior art. The high-precision attitude data calculation method comprises the following steps of initializing a sensor and a normalized coordinate system transfer matrix; calculating the attitude data and the coordinate system transfer matrix R1 of a carrier at the moment; calculating a coordinate system transfer matrix R2 at the moment; determining a final coordinate system transfer matrix at the moment, and normalizing the final coordinate system transfer matrix, so as to obtain the normalized coordinate system transfer matrix at the moment; solving the attitude data at the moment according to the normalized coordinate system transfer matrix obtained in the step (4); and returning to the step (2), and calculating the attitude data of the next moment. By utilizing the scheme, the high-precision attitude data calculation method is convenient to implement, is high in precision and has very high practical and promotional values.
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Description

technical field

[0001] The invention relates to a method for calculating attitude data in the field of navigation, in particular to a method for calculating AHRS high-precision attitude data. Background technique

[0002] As we all know, inertial navigation mainly involves two aspects: positioning and attitude determination. Positioning can be completed through global satellite positioning systems (such as GPS, Beidou, etc.); The angular velocity information is calculated by integral to obtain the current attitude data (mainly including direction angle, pitch angle and roll angle). Due to the limited accuracy of the accelerometer and gyroscope and the cumulative error, the obtained attitude data has a large error and cannot meet the technical requirements. Contents of the invention

[0003] The purpose of the present invention is to provide a method for calculating AHRS high-precision attitude data, which mainly solves the problem in the prior art that the accuracy of acc...

Claims

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