Accelerometer gyroscope horizontal angle measurement method based on Kalman filtering

A technology of Kalman filtering and horizontal angle, which is applied in the direction of measuring device, measuring angle, measuring inclination, etc., can solve the problems of poor accuracy and achieve the effect of ensuring measurement accuracy

Inactive Publication Date: 2015-11-11
HARBIN INST OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of poor accuracy of the accelerometer gyroscope measuring the horizontal angle in a dynamic measurement environment. The present invention provides a method for measuring the horizontal angle of the accelerometer gyroscope based on Kalman filtering

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  • Accelerometer gyroscope horizontal angle measurement method based on Kalman filtering
  • Accelerometer gyroscope horizontal angle measurement method based on Kalman filtering
  • Accelerometer gyroscope horizontal angle measurement method based on Kalman filtering

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specific Embodiment approach 1

[0031] Specific implementation mode one: combine figure 1 Describe this embodiment, the accelerometer gyroscope horizontal angle measuring method based on Kalman filtering described in this embodiment, described method comprises the following steps:

[0032] Step 1: Use the accelerometer and gyroscope to collect data about the X-axis to obtain acceleration and angular rate;

[0033] Step 2: Perform digital filtering on the obtained acceleration and angular rate to filter out high-frequency interference generated during transmission;

[0034] Step 3: convert the filtered acceleration into an angle;

[0035] Step 4: Substituting the temperature compensation factor into the converted angle to obtain the compensated angle;

[0036] Step 5: Kalman filtering is performed on the compensated angle and the filtered angular rate, and data fusion is performed to obtain the optimal estimated value of the horizontal angle.

[0037] The process of step five includes:

[0038] Step 51: S...

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Abstract

Belonging to the technical field of measurement of dynamic equipment systems, the invention relates to an accelerometer gyroscope horizontal angle measurement method based on Kalman filtering so as to solve the problem of poor precision in accelerometer gyroscope horizontal angle measurement under a dynamic measurement environment. The method includes: 1. utilizing an accelerometer and a gyroscope to collect data about X axis so as to obtain the acceleration and angular rate; 2. subjecting the obtained acceleration and angular rate to digital filtering so as to filter out high-frequency interference generated in the transmission process; 3. converting the filtered acceleration into angular speed; 4. according to the conversion angle, introducing a temperature compensation factor to obtain a compensated angle; and 5. subjecting the compensated angle and filtered angular rate to Kalman filtering, and performing data fusion so as to obtain a horizontal angle optimal estimation value for correction in a control system.

Description

technical field [0001] The invention relates to a method for measuring horizontal inclination based on Kalman filtering, and belongs to the technical field of measurement of dynamic equipment systems. Background technique [0002] In the control system, the horizontal angle measurement value is an extremely important measurement signal, which is usually used as the feedback signal of the control system to correct the system, so its accuracy and stability are extremely important. At present, most of the common horizontal angle measuring components are inclination sensors. The commonly used inclination measuring sensors are divided into three categories: solid type, liquid type and gas pendulum type. They are all developed based on Newton's second law. Measured under static conditions, they can all obtain higher precision. However, when the carrier is in a dynamic state, the acceleration interference will add components to the sensitive axis of the sensor, which will cause me...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C9/00G01C1/00
CPCG01C9/00G01C1/00
Inventor 杜靖陈兴林魏昊楠张博
Owner HARBIN INST OF TECH
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