Unlock instant, AI-driven research and patent intelligence for your innovation.

An online filter calibration method for imu/magnetometer installation misalignment angle

A calibration method and magnetometer technology, applied in the field of inertia, can solve problems such as large heading error

Active Publication Date: 2018-06-01
北京天航华创科技股份有限公司
View PDF4 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the magnetometer is greatly affected by installation errors and external disturbances, the resulting heading error is relatively large

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • An online filter calibration method for imu/magnetometer installation misalignment angle
  • An online filter calibration method for imu/magnetometer installation misalignment angle
  • An online filter calibration method for imu/magnetometer installation misalignment angle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0151] Step 1: Fix the IMU and magnetometer on the hexahedron device through tooling and lock them tightly. Connect the cables between the system, power supply, and acquisition computer, and check for correctness.

[0152] Step 2: Place the hexahedron device on a stable table, turn on the power to preheat the system to reach a thermal equilibrium state, and bind the initial position parameters of the system, including the initial longitude, latitude and altitude.

[0153] Step 3: Put the hexahedron system device still, and use static fine alignment for 1 minute to obtain the initial attitude angle of the system.

[0154] Step 4: Rotate the system about 90 degrees along the Z axis, perform a static initial alignment of the system for 20 seconds, and collect data from the magnetometer at the same time.

[0155] Step 5: Rotate the system about 90 degrees along the Z axis again, perform a static initial alignment of the system for 20 seconds, and collect the data of the magnetome...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The present invention discloses an IMU / magnetometer installation misalignment angle online filter calibration method, and belongs to the technical field of inertial. According to the present invention, the three-position path design is used, and the rotation shaft, the rotation order, the rotation angle and the like are provided; the Kalman filter method is used to obtain all error parameters of the strapdown inertial navigation system IMU relative magnetometer installation misalignment angle; and with the hexahedron or other similar apparatuses capable of flipping, the on-site calibration test can be completed, such that the disadvantages of the calibration in the traditional laboratory are overcome, and the actual use precision of the system is improved.

Description

technical field [0001] The invention belongs to the technical field of inertia, and relates to an online calibration method for an IMU / magnetometer installation misalignment angle, which can calibrate the IMU and magnetometer installation misalignment angle parameters when there is no turntable and geographic reference on the site. Background technique [0002] Magnetometer is a sensor for measuring magnetic field strength. It is widely used in integrated navigation. It has the characteristics of good concealment performance, instant use, and no error accumulation over time. The combination system of strapdown inertial navigation coordinate system (SINS) and magnetometer provides magnetic heading information for aircraft attitude measurement and control, which can make up for the long-term error accumulation of inertial navigation, and is increasingly used in navigation technology. Since the magnetometer is greatly affected by installation errors and external disturbances, t...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 李保国
Owner 北京天航华创科技股份有限公司