Whole attitude angle updating method applied to agricultural machinery and based on nine-axis MEMS (micro-electromechanical system) sensor
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A technology for agricultural machinery and updating methods, which is applied in the field of measurement and can solve problems such as incomplete application
Active Publication Date: 2015-12-30
SHANGHAI HUACE NAVIGATION TECH
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Problems solved by technology
SINS is mostly used in aircraft navigation control systems, while the research and application in the field of agricultural machinery control is in its infancy, and the application objects and environmental conditions of the two are quite different. The method is not always applicable in the control of agricultural machinery
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Embodiment 1
[0058] like figure 1 As shown, a method for updating the full attitude angle of agricultural machinery based on the nine-axis MEMS sensor, the method for updating the full attitude angle of the agricultural machinery based on the nine-axis MEMS sensor includes the following steps:
[0059] Step S1: Establish a gyroscope error model, an electronic compass calibration ellipse model and a seven-dimensional EKF filter model, and set the parameter vector of the corresponding vehicle body motion attitude;
[0060] The step S1: establishing the gyroscope error model, the electronic compass calibration ellipse model and the seven-dimensional EKF filter model, and setting the parameter vector of the corresponding vehicle body motion attitude. The specific steps are:
[0061] The gyroscope error model calculates the angular velocity of the gyroscope through the gyroscope error calculation formula, where the gyroscope error calculation formula is: ω=ω ib +b ωr +b ωg , where ω is the o...
Embodiment 2
[0099] like figure 2 As shown, a method for updating the full attitude angle of agricultural machinery based on the nine-axis MEMS sensor, the method for updating the full attitude angle of the agricultural machinery based on the nine-axis MEMS sensor includes the following steps:
[0100] Step S1: Establish a gyroscope error model, an electronic compass calibration ellipse model and a seven-dimensional EKF filter model, and set the parameter vector of the corresponding vehicle body motion attitude;
[0101] The step S1: establishing the gyroscope error model, the electronic compass calibration ellipse model and the seven-dimensional EKF filter model, and setting the parameter vector of the corresponding vehicle body motion attitude. The specific steps are:
[0102] The gyroscope error model calculates the angular velocity of the gyroscope through the gyroscope error calculation formula, where the gyroscope error calculation formula is: ω=ω ib +b ωr +b ωg , where ω is the ...
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Abstract
The invention discloses a whole attitude angle updating method applied to agricultural machinery and based on a nine-axis MEMS (micro-electromechanical system) sensor. The whole attitude angle updating method applied to agricultural machinery and based on the nine-axis MEMS sensor comprises the following steps: a gyroscope error model, an electronic compass calibration ellipse model and a seven-dimensional EKF (extended Kalman filter) model are established, and parameter vectors of corresponding motion attitudes of a vehicle body are set; data including the acceleration, the angular velocity and the geomagnetic field intensity of vehicle body motion are acquired in real time; the angle, the speed, the location information and the heading angle of the vehicle body are calculated through the established gyroscope error model and electronic compass calibration ellipse model; data fusion processing is performed on the angle, the speed, the location information and the heading angle of the vehicle body through the seven-dimensional EKF model, and the motion attitude angle of the vehicle body is updated in real time. The method comprising the steps has small errors and high precision and is stable and reliable.
Description
technical field [0001] The invention relates to the field of measurement technology, in particular to a method for updating the full attitude angle of agricultural machinery based on a nine-axis MEMS sensor. Background technique [0002] With the development of MEMS (Micro-Electro-Mechanical-System) sensors, navigation and control technology and the further increase of the country's support for agriculture, precision agriculture is rapidly becoming a trend, and in the process of auxiliary driving control of agricultural machinery , the attitude of the car body, including pitch angle, roll angle and heading angle, these information can provide important data input for high-precision integrated navigation and control algorithms. [0003] At present, inertial navigation systems are divided into PINS (PlatformInertialNavigationSystem) and SINS (StrapdownInertialNavigationSystem). Compared with PINS, SINS uses IMU (InertialMeasuringUnit) sensors to establish a "mathematical platf...
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