Attitude determination method resisting acceleration interference

A determination method and acceleration technology, which are applied in the direction of navigation through velocity/acceleration measurement, navigation calculation tools, etc., can solve the problems of effective estimation of linear acceleration interference and poor anti-interference effect, so as to weaken the linear acceleration interference of the carrier, improve the accuracy and The effect of stability

Active Publication Date: 2017-01-04
JIYI ROBOT SHANGHAI
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Problems solved by technology

However, this method of anti-acceleration interference cannot effectively estimate the linear acceleration interference, so the anti-interference effect is poor

Method used

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  • Attitude determination method resisting acceleration interference
  • Attitude determination method resisting acceleration interference
  • Attitude determination method resisting acceleration interference

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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0021] Such as figure 1 As shown, the present application designs a method for determining the attitude of anti-acceleration interference, and the specific operation principle is as follows:

[0022] 1. Established the linear acceleration estimation model of the carrier coordinate system;

[0023] When the carrier performs acceleration and deceleration maneuvers or in a vibrating environment, the carrier has a linear acceleration, and the change of the linear acceleration under the carrier system can be approximated as a first-order Markov process, as shown in formula (1), where for t k The linear acceleration of the carrier at time, for t k-1 The linear acceleration of the carrier system at time, the superscript B represents the carrier system. τ is the first-order Markov correlation tim...

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Abstract

The invention relates to the field of equipment precision estimation, in particular to an attitude determination method resisting acceleration interference. According to the designed attitude determination method resisting acceleration interference, a linear acceleration model and a linear acceleration error equation are established to adapt to the linear acceleration of equipment in real time, and the acceleration interference resisting attitude of the equipment is determined. Compared with a traditional attitude determination method, by means of the attitude determination method, adaptive online real-time estimation of the linear acceleration of a carrier can be achieved, interference of the linear acceleration of the carrier is effectively weakened, and the attitude estimation precision and stability are improved.

Description

technical field [0001] The invention relates to the field of equipment accuracy evaluation, in particular to an attitude determination method for anti-acceleration interference. Background technique [0002] MEMS navigation applications that need to measure and perceive attitude, such as micro-unmanned aerial vehicles, gimbals, or handheld gimbals, all need to use MEMS gyroscopes to measure attitude changes. In the process of obtaining the attitude by integration, a large calculation error will be introduced. For this reason, it is necessary to correct the attitude angle of the gyro integration in combination with the MEMS accelerometer and the MEMS magnetometer. The existing methods of comprehensively using three MEMS sensors to determine attitude and attitude mainly include complementary filter algorithm, Kalman filter algorithm and gradient descent method. When only the MEMS gyroscope and MEMS accelerometer are used, the MEMS accelerometer is mainly used to accurately se...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/12G01C21/20
CPCG01C21/12G01C21/20
Inventor 杭义军邢丽贾文峰吕印新
Owner JIYI ROBOT SHANGHAI
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