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Attitude fusion solution method and system

An attitude and solving technology, applied in the direction of calculation, computer components, input/output of user/computer interaction, etc., can solve problems such as large errors

Inactive Publication Date: 2018-02-06
广州新维感信息技术有限公司
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Problems solved by technology

[0004] The present invention provides an attitude fusion solution method and system, which solves the technical problem of relatively large errors in the attitude angle estimation by a single sensor in the prior art

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Embodiment Construction

[0022] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0023] Such as figure 1 As shown, an attitude fusion solution method provided by an embodiment of the present invention includes:

[0024] Step 101, obtain the measurement data of accelerometer, magnetometer, gyroscope;

[0025] Step 102, calibrating the measurement data of the accelerometer, magnetometer, and gyroscope;

[0026] Step 103, using a gradient descent algorithm to process the measurement data collected by the accelerometer and the magnetometer to obtain an attitude update quaternion;

[0027] Step 104, using the fourth-order Runge-Kutta method to solve the differential equation based on the attitude quaternion output by the gyroscope to obtain attitude measurement data;

[0028] Step 105 , performing complementary ...

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Abstract

The invention relates to the field of attitude solution, and discloses an attitude fusion solution method and system. The attitude fusion solution method comprises: acquiring measurement data of an accelerometer, a magnetometer and a gyroscope; carrying out calibration on the measurement data of the accelerometer, the magnetometer and the gyroscope; by utilizing a gradient descent algorithm, carrying out processing on the measurement data acquired by the accelerometer and the magnetometer so as to obtain attitude update quaternions; by utilizing a four-order Range-Kuttle method, solving a differential equation based on an attitude quaternion output by the gyroscope so as to obtain attitude measurement data; carrying out complementary filtering on the attitude update quaternions of the accelerometer and the magnetometer and the attitude measurement data output by the gyroscope so as to carry out fusion attitude solution. The attitude fusion solution method and system have high attitudeestimation accuracy, good rapidity and low load for a system, and have high engineering practical value.

Description

technical field [0001] The invention relates to the field of attitude calculation, in particular to an attitude fusion calculation method and system. Background technique [0002] With the continuous development of VR, the demand for posture is also becoming stronger. Without posture information, the head-mounted display device will not be able to drive; if there is no posture, all VR interactions will not work normally. Attitude angle consists of heading angle, roll angle and pitch angle. [0003] The existing attitude settlement algorithm mostly uses a single sensor to estimate the attitude angle, which has a large error. For example, the accelerometer measurement value contains vibration noise and motion acceleration, which will affect the attitude calculation effect. Contents of the invention [0004] The present invention provides an attitude fusion solution method and system, which solves the technical problem that a single sensor performs attitude angle estimation ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18G01C21/08G06F3/0346G06F3/01
CPCG01C21/08G01C21/165G01C21/18G06F3/011G06F3/0346
Inventor 钟钦耀万聪灵
Owner 广州新维感信息技术有限公司
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