Low-cost high-precision BD/MEMS integration attitude measurement method

A measurement method and high-precision technology, applied in the field of navigation, can solve problems such as the difficulty of solving the ambiguity of the whole circle, the cumulative error of the gyroscope and accelerometer, and the failure of the satellite attitude measurement system to work normally.

Active Publication Date: 2016-05-25
CHONGQING UNIV OF POSTS & TELECOMM
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Problems solved by technology

This method solves the problem that the satellite attitude measurement system cannot work normally due to insufficient number of observed satellites when the BD signal is blocked by obstacles, and solves the difficulty in solving the ambiguity of the whole circle caused by the signal loss of lock, and also solves the problem of The problem of cumulative error of gyroscope and accelerometer

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  • Low-cost high-precision BD/MEMS integration attitude measurement method
  • Low-cost high-precision BD/MEMS integration attitude measurement method
  • Low-cost high-precision BD/MEMS integration attitude measurement method

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Embodiment Construction

[0036] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0037] figure 1 It is a low-cost high-precision BD / MEMS fusion attitude measurement flow chart of the present invention. As shown in the figure, in the present invention, the MEMS sensor module includes a three-axis accelerometer to output specific force information, a three-axis gyroscope to output angular velocity signals, and a three-axis magnetometer to output three-dimensional magnetic field strength. The BD attitude measurement module includes Two antennas and an integrated BD navigation attitude measurement chip.

[0038] Step A1, data acquisition by the MEMS inertial sensor module and the BD receiver module.

[0039]Specifically, the MEMS inertial sensor is driven by STM32 and the output frequency of the sensor is precisely controlled by a timer. The 2 sensor data collected each time are encapsulated into a frame of data, in which ...

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Abstract

The invention relates to a low-cost high-precision BD / MEMS integration attitude measurement method, and belongs to the technical field of navigation. An MEMS inertia sensor module comprises a triaxial accelerometer, a triaxial gyroscope, and a triaxial magnetometer. A BD receiver module comprises two antennas and one integrated BD navigation chip. The method comprises the steps: solving a carrier attitude angle according to the information of an MEMS inertia sensor; solving the ambiguity of the whole cycle through the assistance of an AFM (ambiguity function method); and finally achieving the BD / MEMS integration attitude measurement through an expanded Kalman filter. The method solves a problem that a satellite attitude system cannot work normally under the condition that a BD signal is sheltered by an obstacle because of insufficient satellites, overcomes the difficulty, caused by signal lock loss, in solving the ambiguity of the whole cycle, and also solves a problem of accumulated errors of the gyroscope and the accelerometer. Compared with a conventional method, the method is higher in instantaneity and reliability and is higher in precision.

Description

technical field [0001] The invention belongs to the technical field of navigation and relates to a low-cost and high-precision BD / MEMS fusion attitude measurement method. Background technique [0002] The attitude information of the carrier is one of the important navigation parameters. These parameters can help to understand the real-time carrier movement status, and play an important role in military and civilian applications. Such as artillery, radar, and missiles all need fast and accurate attitude and orientation results, otherwise their hitting accuracy will be greatly affected. [0003] With the rapid development of carrier phase difference technology, it becomes possible to use BD system to realize attitude measurement. Compared with the inertial navigation system, using BD to realize attitude measurement has the characteristics of no drift, no accumulation of errors, and small size. However, the BD signal is susceptible to external interference, such as weather, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/55G01C21/16
CPCG01C21/165G01S19/55
Inventor 蒋青刁春帆田增山周牧李小飞汪镱林张跃仲黎刚平
Owner CHONGQING UNIV OF POSTS & TELECOMM
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