Attitude tilting angle estimation method suitable for precise operation of agricultural machine
An agricultural machinery and attitude technology, applied in the field of inertial navigation, can solve the problems of lack of consideration of sensor characteristics, random disturbance of gyroscope, limited adaptability, etc., and achieve the effect of improving attitude calculation accuracy, system applicability and accuracy.
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[0060] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The specific examples described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not constitute a conflict with each other.
[0061] like image 3 As shown, this embodiment is applicable to the attitude inclination estimation method of agricultural machinery precision operation: including the inherent bias estimation of the gyroscope and accelerometer and the adaptive Kalman filter attitude fusion algorithm combined with the AR error model of the gyroscope. Among them, the inherent bias estimation algorithm of the gyroscope and the accelerometer is...
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