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Method and device for determining attitude data of carrier

A technology of data and attitude, which is applied in the field of determination of attitude data, can solve problems such as inaccurate determination of attitude data, achieve the effects of avoiding discontinuity and gimbal deadlock, solving inaccurate determination, and improving accuracy

Active Publication Date: 2020-09-01
TENCENT TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Embodiments of the present invention provide a method and device for determining the attitude data of a carrier, so as to at least solve the technical problem of inaccurate determination of the attitude data of the carrier in the related art

Method used

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  • Method and device for determining attitude data of carrier
  • Method and device for determining attitude data of carrier
  • Method and device for determining attitude data of carrier

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Experimental program
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Effect test

Embodiment 1

[0020] According to an embodiment of the present invention, an embodiment of a method for determining attitude data of a carrier is provided.

[0021] Optionally, in this embodiment, the method for determining the posture data of the carrier above can be applied to such as figure 1 In the hardware environment constituted by the server 102 and the terminal 104 as shown. figure 1 is a schematic diagram of a hardware environment of a method for determining attitude data of a carrier according to an embodiment of the present invention. Such as figure 1 As shown, the server 102 is connected to the terminal 104 through a network. The above-mentioned network includes but not limited to: a wide area network, a metropolitan area network or a local area network. The terminal 104 is not limited to a PC, a mobile phone, a tablet computer, and the like. The method for determining the posture data of the carrier in the embodiment of the present invention may be executed by the server 102 ...

Embodiment 2

[0146] The technical solutions of the present invention will be described below in conjunction with preferred embodiments.

[0147] Figure 4 is a schematic diagram of attitude data measurement of a carrier according to an embodiment of the present invention. The carrier of this embodiment carries inertial sensors including gyroscopes, accelerometers and magnetometers. Optionally, the gyroscope is a three-axis gyroscope, which outputs angular velocity data ω k , the accelerometer is a three-axis accelerometer, the output acceleration a k , the magnetic field meter is a three-axis magnetic field meter, and the output magnetic field value b k .

[0148] In the embodiment of the present invention, the extended Kalman filter is used, and the rotation matrix X (X∈SO(3) from the sensor coordinate system to the world coordinate system, SO(3) is a Lie group G) is used as the state of the extended Kalman filter variable, and assume that the posterior probability distribution of the ...

Embodiment 3

[0185] The application environment of the embodiment of the present invention may refer to, but is not limited to, the application environment in the foregoing embodiments, which will not be described in detail in this embodiment. An embodiment of the present invention provides an optional specific application for implementing the method for determining the posture data of the carrier above.

[0186]The embodiment of the invention discloses a Lie group-based inertial sensor data fusion algorithm, aiming at estimating the attitude of the inertial sensor carrier more accurately. The inertial sensor includes a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. The attitude of the sensor carrier is its roll (Roll), yaw (Yaw) and pitch (Pitch) at a certain moment, such as Figure 5 . in, Figure 5 is a schematic diagram of the posture of a carrier according to an embodiment of the present invention. The attitude can also be represented by the rotati...

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Abstract

The invention discloses a method and a device for determining attitude data of a carrier, wherein the method comprises: obtaining sensor data output by an inertial sensor of the carrier; merging the sensor data by an extended Kalman filter on a Lie group; and obtaining the attitude data of the carrier, wherein the state variable and the observed variable of the extended Kalman filter are represented by a rotation transformation matrix. According to the invention, a technical problem of inaccurate determination of the attitude data of the carrier in related technologies is solved.

Description

technical field [0001] The present invention relates to the field of data processing, in particular to a method and device for determining posture data of a carrier. Background technique [0002] At present, when measuring the attitude of the carrier, the acceleration value and the magnetic field value are used as an Extended Kalman Filter (Extended Kalman Filter, EKF for short) state variable X and observation variable Z. For example, X=(acce x ,acce y ,acce z , mag x , mag y , mag z ), is a 6-dimensional real number, where acce x Used to represent the acceleration projected onto the x-axis, acce y Used to represent the acceleration projected onto the y-axis, acce z Used to represent the acceleration projected onto the z-axis, mag x Used to represent the magnetic field value projected onto the x-axis, mag y Used to represent the magnetic field value projected onto the y-axis, mag z Used to represent the magnetic field value projected onto the z-axis. The degre...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/08
CPCG01C21/08G01C21/16
Inventor 顾照鹏肖泽东郑远力
Owner TENCENT TECH (SHENZHEN) CO LTD
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