Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment

A three-dimensional acceleration and accelerometer technology, applied in the direction of velocity/acceleration/shock measurement, measurement device, testing/calibration of velocity/acceleration/shock measurement equipment, etc. The effect of improving the actual use accuracy and high engineering practical value

Inactive Publication Date: 2014-08-20
BEIHANG UNIV
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Problems solved by technology

Another difference is that the current parameter estimation method of the field error model of the three-dimensional magnetic compass fails to consider avoiding the occurrence of estimated singular values, which often leads to estimation failure
A few methods only consider the desingularity condition for the two-dimensional measurement case

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  • Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment
  • Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment
  • Three-dimensional measurement accelerometer error non-singularity estimation method in external field environment

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Embodiment Construction

[0038] like figure 1 Shown, concrete method of the present invention is as follows:

[0039] 1. First, determine all the attitude information collected in the external field to estimate the 3D accelerometer error;

[0040] That is to ensure that the accelerometer in each dimension stops as much as possible in multiple positions such as the maximum, minimum, and zero values ​​of the gravitational acceleration in the vertical plane to collect data.

[0041] 2. Establish an accelerometer error model to clarify the unknown parameters that need to be estimated;

[0042] The errors of the three-dimensional measurement accelerometer include the zero offset, the scale factor and the non-orthogonal error between the three axes. V ax , V ay , V az Indicates the output measurement value of the three-dimensional accelerometer, B ax , B ay , B az Indicates the zero bias of the three-dimensional measurement accelerometer, K ax , K ay , K az Indicates the scale factor of the three...

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Abstract

The invention relates to a three-dimensional measurement accelerometer error non-singularity estimation method in an external field environment, in particular to a three-dimensional accelerometer error non-singularity estimation method in a field or an external field environment, wherein no special devices are needed. According to the method, first, all posture information needing to be collected for estimating the error of a three-dimensional accelerometer in an external field is determined; second, an accelerometer error model is built, and unknown parameters needing to be estimated are made to be clear; third, the unknown parameter estimation problem of the three-dimensional accelerometer error model is converted into a fitting problem of geometric model parameters of an ellipsoid; fourth, in parameter estimation of the three-dimensional accelerometer error model, an ellipsoid fitting algorithm avoiding singular points is adopted; fifth, an ellipsoid correcting model is adopted in parameter estimation of the three-dimensional accelerometer error model, and the problem that scale factors and installation error matrixes are not unique is solved. The three-dimensional measurement accelerometer error non-singularity estimation method is applicable to systems such as a small unmanned aerial vehicle, a robot and a handheld terminal with a low-cost, small-size and low-parameter-stability accelerometer as a sensor.

Description

technical field [0001] The invention relates to a method for estimating the error of a three-dimensional measurement accelerometer without singularity in an external field environment. It is a method for estimating an error in an external field combined with an inertial sensor that is simple and easy and does not require special equipment, and simultaneously estimates the zero bias, scale factor and Three-dimensional installation error. Constraints are set in the estimation process to avoid the inability to estimate the parameters of the three-dimensional measurement accelerometer error model due to singularity, and the modified ellipsoid model is used to avoid the problem that the estimated model parameters are not unique. The invention is applicable to systems such as small unmanned aerial vehicles, robots, and hand-held terminals that use accelerometers with low cost, small volume, and low parameter stability as sensors, improves the actual use accuracy of the accelerometer...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P21/00
Inventor 盛蔚孙丁圣蒋勇
Owner BEIHANG UNIV
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