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A AHRS Algorithm Based on Adaptive Extended Kalman Filter

A Kalman filter and extended Kalman technology, applied in navigation calculation tools, navigation through velocity/acceleration measurement, etc., can solve problems such as adjusting noise matrix, large linearization error of state transition matrix, etc.

Active Publication Date: 2019-06-28
NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the traditional AHRS algorithm, the Kalman filter cannot adjust the noise matrix of the observed quantity adaptively according to the dynamics of the moving scene, and at the same time, a large error is introduced due to the linearization of the state transition matrix

Method used

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  • A AHRS Algorithm Based on Adaptive Extended Kalman Filter
  • A AHRS Algorithm Based on Adaptive Extended Kalman Filter
  • A AHRS Algorithm Based on Adaptive Extended Kalman Filter

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Embodiment Construction

[0068] Below in conjunction with specific embodiment and accompanying drawing, the present invention will be further described:

[0069] as attached figure 1 As shown, the main steps of the patent of the present invention are as follows:

[0070] Step 1: Since the MEMS sensor error is easily affected by the external environment, especially the temperature, the parameters in the Kalman filter must accurately reflect the error level in the current environment. The level of fluctuations in MEMS gyroscope and accelerometer output at rest reflects the sensor's noise level, which characterizes the sensor's performance. In order to obtain an accurate error coefficient, the AHRS system stands still for a period of time such as 30 seconds before the navigation starts, and records the accelerometer x, y, z three-axis output and the gyroscope x, y, z three-axis output during the stationary process, and records the participating The number of epochs N to calculate. Calculate the zero o...

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Abstract

The invention relates to the field of navigation and attitude determination, in particular to the attitude and heading reference system AHRS (attitude and heading reference system) by adopting adaptive Kalman filter to solve the problem of determining the Kalman filter observation noise matrix under different dynamics, and by extending the Kalman filter Filtering solves the error introduced by traditional Kalman filter linearization in high dynamic scenes, thereby improving the attitude measurement accuracy of low-cost AHRS.

Description

technical field [0001] The present invention relates to the field of navigation and attitude determination, in particular to the attitude and heading reference system AHRS (Attitude and Heading Reference System) by using adaptive Kalman filter to solve the problem of determining the Kalman filter observation noise matrix under different dynamics, and by extending the Kalman filter Solve the error introduced by traditional Kalman filter linearization in high dynamic scenes, thereby improving the attitude measurement accuracy of low-cost AHRS. Background technique [0002] The situation of modern warfare is complex and changeable, and the navigation and positioning system with position, speed, and attitude as the core information has become a key factor to speed up the war process and determine the outcome of the war. Among modern navigation systems, GNSS (Global Navigation Satellite System) has become the most widely used navigation method due to its global, all-weather, and ...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/20
Inventor 王青江智奇楠刘鹏飞
Owner NO 54 INST OF CHINA ELECTRONICS SCI & TECH GRP