Filtering method and device for inertial measurement unit

An inertial measurement unit, Kalman filtering technology, applied in the direction of instruments, character and pattern recognition, computer parts, etc., can solve the problem of time-consuming filtering process, and achieve the effect of improving static performance, small calculation amount, and improving dynamic performance.

Active Publication Date: 2018-01-09
BEIJING UNISTRONG SCI & TECH
View PDF4 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of this, the object of the present invention is to provide an IMU filtering method and device to solve the time-consuming technical problem of the filtering process in the prior art

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Filtering method and device for inertial measurement unit
  • Filtering method and device for inertial measurement unit
  • Filtering method and device for inertial measurement unit

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0053] The IMU filtering method provided in this embodiment is designed based on wavelet noise reduction theory. Since the calculation amount of the wavelet noise reduction method increases exponentially with the order, the low-order wavelet noise reduction method is adopted in the present invention. However, the low-order wavelet noise reduction method is not ideal for low-frequency noise. Therefore, when the signal-to-noise ratio of the sensor output signal is not too high, use other methods to filter on the basis of low-order wavelet noise reduction processing. The low-frequency noise in the low-frequency signal is removed, so that the filtering result of the IMU can reach the best under different motion states.

[0054] In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accomp...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention provides a filtering method and device for an IMU (inertial measurement unit), and the method comprises the steps: carrying out the low-order wavelet denoising processing of an output signal of a to-be-processed sensor; detecting the state of the sensor, and filtering low-frequency noise in a wavelet denoising result through a mean value compensation method when the to-be-processed sensor and a coherent shaft sensor are in a static state; carrying out the Kalman filtering of the wavelet denoising result when the to-be-processed sensor is in a static state and the coherent shaft sensor is in a dynamic state, thereby achieving the inhibiting of the low-frequency noise in the wavelet denoising result. The method employs the wavelet denoising method, so the method is small in calculation burden. Moreover, the method eliminates the impact on the sensor in the static state from the low-frequency noise through the mean value compensation method, and improves the static performances. The method achieves the inhibition of the low-frequency noise through the Kalman filtering method when the to-be-processed sensor is in the static state and the coherent shaft sensor is in the dynamic state, and improves the dynamic performances of the filtering of the IMU.

Description

Technical field [0001] The invention belongs to the field of automatic control, and particularly relates to a filtering method and device of an IMU (Inertial Measurement Unit). Background technique [0002] The IMU contains three single-axis acceleration sensors and three single-axis angular velocity sensors. Three single-axis acceleration sensors are installed orthogonally to measure acceleration signals in each axis direction; three single-axis angular velocity sensors are installed orthogonally to measure angular velocity signals in each axis direction. [0003] MEMS (Micro-Electro-Mechanical Systems, Micro-Electro-Mechanical Systems) IMU is being used more and more widely in the field of navigation. Limited by the manufacturing process and accuracy level of the MEMS IMU, the random noise of the output signal is relatively large. Therefore, the MEMS IMU must be filtered to improve the accuracy of the output signal of the MEMS IMU. [0004] In the prior art, a high-order wavelet ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
Inventor 徐文赢
Owner BEIJING UNISTRONG SCI & TECH
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap