Two-axis attitude dip angle measurement method

Abstract

The invention discloses a two-axis attitude dip angle measurement method. The method comprises S1, accurately estimating initial values of a roll angle and a pitch angle in a quasi-static state basedon a three-axis accelerometer space geometric model and setting the initial values as state input of a kalman filter, S2, setting two-axis dip angle zero offsets biasroll and biaspitch as state inputof the kalman filter, S3, setting measured values Gyrox and Gyroy of an X-axis gyroscope and a Y-axis gyroscope as input vectors of the kalman filter, and S4, building a system kalman filter state equation containing four state vectors and two observation vectors and a measurement equation and precisely measuring two-axis attitude dip angles. The method considers two-axis dip angle zero offsets, realizes automatic correction through a kalman filter fusion method and guarantees the high-precision measurement of the two-axis attitude dip angle.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and particularly relates to a two-axis attitude inclination measurement method. Background technique [0002] Inertial navigation technology is a fully autonomous navigation technology developed in the mid-20th century. The inertial measurement component measures the angular rate and acceleration information of the carrier relative to the inertial space, and uses Newton's law of motion to automatically calculate the instantaneous velocity and position information of the carrier. . It can continuously provide all the navigation and guidance parameters of the carrier (position, linear velocity, angular velocity, attitude angle), and is widely used in the fields of aerospace, aviation, navigation, especially the military field. The accurate estimation of the two-axis attitude inclination is the key parameter to realize the control of moving objects. [0003] For example, for agricultu...

AI Technical Summary

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

The accelerometer can solve the Euler attitude angle of the quasi-static gorge object, and there is no cumulative error problem without integral operation, but the dynamic response of the attitude angle calculated by it is poor, so it cannot be applied under dynamic conditions

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