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Multi-sensor attitude fusion method based on complementary reconstruction technology

A multi-sensor, fusion method technology, applied in the field of inertial navigation, can solve the problems of inability to correct four-element calculation results, limited long-term navigation accuracy, etc.

Inactive Publication Date: 2017-02-01
HANGZHOU NORMAL UNIVERSITY
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Problems solved by technology

None of these methods can correct the calculation results of the four elements, and the accuracy of long-term navigation is extremely limited

Method used

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  • Multi-sensor attitude fusion method based on complementary reconstruction technology
  • Multi-sensor attitude fusion method based on complementary reconstruction technology
  • Multi-sensor attitude fusion method based on complementary reconstruction technology

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Embodiment example

[0062] A multi-sensor attitude fusion method based on complementary reconstruction technology, the specific implementation steps are as follows:

[0063] 1) Calculate the attitude information of the carrier; use the data of the gyroscope sensor to calculate the four-element iterative update matrix M'[q(h)] according to the rotation vector algorithm, and according to the following formula:

[0064] Q(t k )=M'[q(h)]·Q'(t k-1 ) (13)

[0065] Update the four-element value Q(t k ), where Q(t k ) is the four-element iteration value at the current moment, M'[q(h)] is the four-element update matrix, Q'(t k-1 ) is the reconstructed value of the four elements at the last moment; and the value Q(t) is calculated according to the updated four elements k ) to calculate the attitude information of the carrier, which are the heading angle Pitch angle θ and roll angle γ, the specific implementation steps are as follows:

[0066] (1.1) Acquisition and preprocessing of angular rate data...

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Abstract

The invention relates to a multisensor attitude fusion method based on a complementary reconstruction technology. The method mainly includes the four steps: four-element iterative updating and carrier attitude calculation, multisensor attitude observation and four-element observed value calculation; complementary reconstruction parameter estimation; and complementary reconstruction four-element value calculation. According to the method, the four-element observed value is employed to correct a last-moment four-element calculated value so as to acquire a complementary reconstructed four-element value, which is employed to conduct the current moment four-element iterative updating, thus eliminating the accumulative error of the algorithm from the mechanism. At the same time, the four-element updating algorithm and reconstruction algorithm are combined to improve the algorithm execution efficiency.

Description

technical field [0001] The present invention relates to the field of inertial navigation, especially when a strapdown inertial navigation system uses data from a single inertial sensor (such as a gyro sensor) to measure the attitude of a carrier. Cumulative errors lead to a decrease in the accuracy of the navigation system. The invention utilizes multi-sensor information to carry out data fusion, and can improve the long-term precision of the strapdown inertial navigation system with relatively low cost. Background technique [0002] When calculating the strapdown inertial navigation system, it is necessary to convert the acceleration and angular velocity changes measured by the carrier from the carrier coordinate system to the navigation coordinate system. Assume that the coordinates of the spatial position P in the navigation coordinate system n are expressed as P(x n ,y n ,z n ), the coordinates in the coordinate system b where the carrier is located are expressed as P...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 董利达尹俊迟天阳管林波
Owner HANGZHOU NORMAL UNIVERSITY
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