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Attitude calculation method and device for a six-axis motion sensor

A motion sensor and sensor technology, applied in the field of sensors, can solve problems such as inaccurate attitude and achieve the effect of suppressing serious drift

Active Publication Date: 2021-03-05
SHENYANG SIASUN ROBOT & AUTOMATION
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Experiments show that the attitude obtained by purely complementary filtering for the MEMS six-axis motion sensor is not accurate

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  • Attitude calculation method and device for a six-axis motion sensor
  • Attitude calculation method and device for a six-axis motion sensor
  • Attitude calculation method and device for a six-axis motion sensor

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Embodiment Construction

[0052] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is an embodiment of a part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0053]The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects and not necessarily Describe a particular order or sequence. It is to be understood that the terms so used are interchangeable under appropriate ci...

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Abstract

The embodiment of the present invention discloses a method and device for calculating the attitude of a six-axis motion sensor. The sensor includes a gyroscope and an accelerometer. In a preset period, the steps include: acquiring the first data of the gyroscope; acquiring The second data of the accelerometer; the real-time angular velocity value is obtained by calculating the preset first algorithm for the first data; the angle value is obtained by calculating the second data according to the preset second algorithm; value and the real-time angular velocity value to perform Kalman filter calculation to obtain the attitude inclination angle. Using the above method and device for attitude detection can give full play to the excellent dynamic characteristics of the gyroscope and the accurate measurement of the accelerometer, and at the same time suppress the disadvantages of the serious drift of the gyroscope and the susceptibility of the accelerometer to vibration. Solve the real-time pose.

Description

technical field [0001] The invention relates to the field of sensors, in particular to a method and device for calculating the attitude of a six-axis motion sensor. Background technique [0002] In recent years, with the rise of new products such as six-axis drones and self-balancing vehicles, motion sensors for detecting attitude angles in space have emerged. In order to reduce the cost and the space size of the sensor system, this kind of motion sensing is often manufactured using micro-electro-mechanical technology (MEMS), such as the micro-electro-mechanical gyroscope used in smartphones. Compared with traditional mechanical gyroscopes, the cost and size of this sensor Although the accuracy has decreased, it can still meet the general attitude detection requirements by adopting a suitable processing algorithm. [0003] In theory, the attitude angle can be obtained by using only the accelerometer or gyroscope, but the dynamic characteristics of the accelerometer are poor...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20
Inventor 赵金野杨奇峰邹风山祁迹宋吉来刘世昌姜铁程
Owner SHENYANG SIASUN ROBOT & AUTOMATION