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.

Active Publication Date: 2017-08-04
SOUTH CHINA AGRI UNIV
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Problems solved by technology

The four-element method requires Taylor expansion when calculating, and usually ignores its higher-order terms to convert nonlinearity into linearity for attitude estimation, and there are errors
[0007] However, the characteristics of the sensor itself are not considered in the actual application, such as the inherent zero bias of the gyroscope and the

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  • Attitude tilting angle estimation method suitable for precise operation of agricultural machine
  • Attitude tilting angle estimation method suitable for precise operation of agricultural machine
  • Attitude tilting angle estimation method suitable for precise operation of agricultural machine

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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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Abstract

The invention discloses an attitude tilting angle estimation method suitable for precise operation of an agricultural machine. The attitude tilting angle estimation method comprises a self-adaptive Kalman filtering attitude fusion algorithm for estimating inherent zero offset of an MEMS (Micro-electromechanical System) gyroscope and an accelerometer and combining with a gyroscope second-order AR (Auto Regression) error model. The attitude tilting angle estimation method comprises the following steps: estimating measurement errors phierr1, phierr2, thetaerr1 and thetaerrr2 of an X-axis gyroscope and a Y-axis gyroscope by adopting an AR model to serve as state input quantities for Kalman filtering, and adaptively estimating a measurement error covariance matrix R; establishing a system external development Kalman filtering state equation and a measuring equation containing six state vectors and two observation vectors; adaptively adjusting a process error covariance matrix Q by means of a space geometric model of a triaxial accelerometer. According to the attitude tilting angle estimation method disclosed by the invention, the inherent zero offset of the gyroscope and the accelerometer is considered, and the condition of introducing system errors during attitude estimation can be avoided; by means of the second-order AR error model, the influence of random errors of a random gyroscope on attitude estimation can be avoided; by using an adaptive Kalman filtering system equation, attitude estimation precision in different states can be ensured.

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Application Information

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Owner SOUTH CHINA AGRI UNIV
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