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A pose calculation method based on extended Kalman filter algorithm based on quaternion

A technology of extended Kalman and filtering algorithm, applied in the field of attitude calculation of extended Kalman filtering algorithm, can solve the problem of unknown parameter calculation, and achieve the effect of simplifying the amount of calculation and high estimation accuracy

Active Publication Date: 2021-06-25
SOUTHEAST UNIV
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an attitude calculation method based on the extended Kalman filter algorithm based on quaternions, which can greatly simplify the calculation amount and solve the problem of unknown calculation of existing parameters

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  • A pose calculation method based on extended Kalman filter algorithm based on quaternion
  • A pose calculation method based on extended Kalman filter algorithm based on quaternion
  • A pose calculation method based on extended Kalman filter algorithm based on quaternion

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Embodiment Construction

[0076] Such as figure 1 As shown, an attitude solution method of the present invention based on the expanded Kalman filtering algorithm based on the four-element number, including the following steps:

[0077] Step 1: Set the gesture estimation system to obtain a multi-axis sensor data under the carrier fixed reference system coordinate system;

[0078] Step 2: Make filtering processing on the collected acceleration data and magnetic induction strength data, and normalize the data collected by these two sensors;

[0079] The data collected by the three-axis gyroscope is w = [w x w y w z ] T , The data acquired after normalization of three-axis accelerometers is A = [a x a y a z ] T , The data acquired after normalization is m = [M x M y M z ] T ;

[0080] Step 3: According to the four-dimensional differential equation and the posture matrix constructed the state equation, the system's process noise variance matrix is ​​obtained;

[0081] Step 4: Use the fast Gaussian-Newtonian bui...

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Abstract

The invention discloses an attitude calculation method based on an extended Kalman filter algorithm based on quaternions, which comprises the following steps: acquiring multi-sensor data in a fixed coordinate system of a carrier; filtering the data collected by an accelerometer and a magnetometer; The data collected by these two sensors are normalized; the state equation of the carrier system is constructed according to the quaternion differential equation and the attitude matrix, and the process noise variance matrix of the system is determined; the system observation model is constructed by using the fast Gauss-Newton method, and Determine the system measurement noise variance matrix; establish the Kalman filter recursion equation according to the established system state equation and observation model; use the best quaternion solution obtained by recursion to calculate the three attitude angles of the carrier. The invention can greatly simplify the amount of calculation and solve the problem of unknown calculation of existing parameters.

Description

Technical field [0001] The present invention relates to multi-sensor data fusion techniques of motion vectors, in particular, a posture-based solution method based on four-membered expanded Kalman filtering algorithm. Background technique [0002] In human motion tracking, multi-sensor data fusion fields such as motion carriers such as aircraft navigation, accurate real-time estimation of the gesture of the carrier has a wide range of applications. The rapid development of low-cost microcomputer systems makes smaller and more cheap inertial sensors have been widely used. However, the data measured by the low-cost inertial measuring unit is susceptible to the bias of high frequency noise and time-variable, so smoothing processing and no bias estimation are required in the sensor data fusion algorithm. In order to obtain a more accurate posture, the data of the accelerometer and the magnetometer and the angular velocity data output from the gyroscope are often integrated. The techn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 徐晓苏喻增威赵北辰孙晓俊
Owner SOUTHEAST UNIV
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