Carrier attitude and heading calculation method assisted by geomagnetic field model and system

Abstract

The invention discloses a carrier attitude and heading calculation method assisted by a geomagnetic field model and a system. The method comprises the following steps that an ideal magnetic inclination angle is calculated according to position information of a carrier and the geomagnetic field model; an estimated magnetic inclination angle is calculated according to an output value of an accelerometer and an output value of a magnetic sensor; whether environmental magnetic interference exists or not is judged according to the ideal magnetic inclination angle and the estimated magnetic inclination angle; if the environmental magnetic interference exists, an equivalent weight matrix of magnetic sensor measurement values is constructed according to self-adaptive weights of the magnetic sensor measurement values; carrier attitude information and heading information are calculated according to an accelerometer measurement value, the magnetic sensor measurement values and the equivalent weight matrix of the magnetic sensor measurement values. According to the carrier attitude and heading calculation method assisted by the geomagnetic field model and the system, the environmental magnetic interference is detected according to the ideal magnetic inclination angle and the estimated magnetic inclination angle, when the environmental magnetic interference is detected, the equivalent weight matrix of the magnetic sensor measurement values is constructed, self-adaptive adjustment of contribution of the magnetic sensor measurement values to a state estimation value is achieved, and the calculated attitude information and heading information have robustness.

Description

Technical field [0001] The invention relates to the field of communication technology, in particular to a method and system for calculating the attitude and heading of a carrier assisted by a geomagnetic field model. Background technique [0002] Attitude and Heading Reference System (AHRS) is a measuring device that can accurately measure the three-axis attitude of the carrier in the space coordinate system. It consists of three-axis magnetometer, three-axis gyroscope and three-axis accelerometer and other hardware and corresponding The software is composed of, 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, the attitude and heading reference systems based on MEMS sensors are more widely used. However, due to the drift of the gyroscope, errors in calculating the attitude and heading information of t...

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a carrier attitude and heading calculation method and system assisted by a geomagnetic field model to solve the technical problem of real-time calculation of carrier attitude and heading when there is environmental magnetic interference

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