Attitude control method and device based on Kalman filter
A Kalman filter and attitude control technology, which is applied in attitude control, transportation and packaging, space navigation equipment, etc., can solve the problems of long calculation time, large amount of calculation, and complicated calculation process, so as to improve efficiency and reduce calculation The effect of reducing the amount and shortening the calculation time
Active Publication Date: 2020-07-24
GEER TECH CO LTD
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In the calculation process using the first-order Kalman filter, the data measured by the three-axis accelerometer and the three-axis magnetometer constitute a 6-dimensional observation variable, which makes the calculation process complicated, the calculation amount is large, and the calculation time is long
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[0039] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangements of components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
[0040] The following description of at least one exemplary embodiment is merely illustrative in nature and in no way taken as limiting the invention, its application or uses.
[0041] Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.
[0042] In all examples shown and discussed herein, any specific values should be construed as exemplary only, and not as limitations. Therefore, other instances of the exemplary embodiment may have dif...
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The invention discloses a Kalman filtering based attitude control method and device. The method comprises the steps of acquiring a prediction matrix according to parameters acquired by measurement of a gyroscope at the current moment and a sampling time interval; acquiring a matrix corresponding to an attitude value optimal solution at the last moment, acquiring an updated prediction matrix according to the prediction matrix and the matrix corresponding to the attitude value optimal solution at the last moment; acquiring an accelerometer observation matrix and a magnetometer observation matrix according to parameters acquired by measurement of an accelerometer and parameters acquired by measurement of a magnetometer at the current moment; performing first-order Kalman filtering calculation on the updated prediction matrix and the accelerometer observation matrix, and acquiring a matrix corresponding to a temporary attitude optimal solution at the current moment; performing second-order Kalman filtering calculation on the magnetometer observation matrix and the matrix corresponding to the temporary attitude optimal solution at the current moment, and acquiring a matrix corresponding to the attitude value optimal solution at the current moment; and controlling the attitude of equipment by using the matrix corresponding to the attitude value optimal solution at the current moment.
Description
technical field [0001] The present invention relates to the technical field of attitude control in equipment space, and more particularly, to a method and device for attitude control based on Kalman filtering. Background technique [0002] Kalman filtering is a signal processing method that uses the linear system state equation to input observation data through the system to optimally estimate the system state. Since the observed data includes the noise in the system, the optimal estimation can also be regarded as a filtering process. In the prior art, the Kalman filter algorithm is used to calculate the data measured by the sensors installed in VR handles, drones, robots, etc., to obtain the corresponding spatial attitude values of VR handles, drones, robots, etc. [0003] In the prior art, the nine-axis attitude control method based on the Kalman filter generally uses a first-order Kalman filter. In the calculation process using the first-order Kalman filter, the data ...
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IPC IPC(8): G05D1/08
CPCB64G1/244
Inventor 陈维亮董碧峰
Owner GEER TECH CO LTD