Attitude and heading calculation method and system assisted by carrier movement state information

A technology of motion state and attitude information, applied in the field of communication

Active Publication Date: 2016-05-25
BEIHANG UNIV
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  • Abstract
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Problems solved by technology

[0004] The invention provides an attitude and heading calculation method and system assisted by carrier motion state information t...

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  • Attitude and heading calculation method and system assisted by carrier movement state information
  • Attitude and heading calculation method and system assisted by carrier movement state information
  • Attitude and heading calculation method and system assisted by carrier movement state information

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Embodiment Construction

[0163]The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0164] An embodiment of the present invention provides an attitude and heading calculation method assisted by carrier motion state information, such as figure 1 shown, including the following steps:

[0165] Step 101, according to the output value of the accelerometer and the output value of the gyroscope, the motion state information of the carrier is obtained.

[0166] Step 102, judge whether there is environmental magnetic interference according to the movi...

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Abstract

The invention discloses an attitude and heading calculation method and system assisted by carrier movement state information. The method comprises the following steps that the movement state information of a carrier is obtained according to an output value of an accelerometer and an output value of a gyroscope; whether environmental magnetic disturbance exists or not is judged according to the movement state information of the carrier; if yes, an equivalent weight matrix of a magnetic sensor measurement value is created according to a self-adaptive weight of the magnetic sensor measurement value; carrier attitude information and heading information are calculated according to an accelerometer measurement value, the magnetic sensor measurement value and the equivalent weight matrix of the magnetic sensor measurement value. According to the attitude and heading calculation method and system assisted by the carrier movement state information, the environmental magnetic disturbance is detected according to the movement state information of the carrier, when the environmental magnetic disturbance is detected, the equivalent weight matrix of the magnetic sensor measurement value is created, self-adaptive adjustment, contributed by the magnetic sensor measurement value, on a state estimated value is achieved, and the attitude information and the heading information obtained through calculation have robustness.

Description

technical field [0001] The invention relates to the field of communication technology, in particular to a method and system for calculating attitude and heading assisted by carrier motion state information. Background technique [0002] Attitude and Heading Reference System (AHRS for short) is a measurement device that can accurately measure the three-axis attitude of the carrier in the space coordinate system. The software composition provides real-time attitude and heading information for the carrier, and is widely used in the fields of aerospace, robotics, automobile industry and pedestrian navigation and positioning. With the development of MEMS technology, attitude and heading reference systems based on MEMS sensors are more widely used. However, due to the drift of the gyroscope, the errors in the calculation of the attitude and heading information of the carrier continue to accumulate. In order to solve this problem, the information of accelerometer and magnetic sen...

Claims

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Application Information

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IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/20
Inventor 高楠赵龙
Owner BEIHANG UNIV
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