Method for preventing universal joint from being locked in posture measurement algorithm based on euler angle

A posture and deadlock technology, which is applied in the direction of measuring angles, measuring devices, calculations, etc., can solve problems such as gimbal deadlock, high skills, and the inability to realize the full posture detection of the measured object, so as to avoid gimbal deadlock , to achieve the effect of full posture analysis

Active Publication Date: 2018-07-24
SHANDONG UNIV
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Problems solved by technology

This kind of operation requires high skills, and it is impossible to realize the full attitude detection of the measured object
When the rotation attitude of the measured object is full attitude, using the attitude detection algorithm based on Euler angles will inevitably cause the gimbal deadlock problem, which cannot meet the actual detection requirements
[0003] In the actual working process of the detected object, the problem that its rotation angle around a certain axis exceeds the specified range cannot be avoided

Method used

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  • Method for preventing universal joint from being locked in posture measurement algorithm based on euler angle
  • Method for preventing universal joint from being locked in posture measurement algorithm based on euler angle
  • Method for preventing universal joint from being locked in posture measurement algorithm based on euler angle

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Embodiment Construction

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0025] It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0026] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinatio...

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Abstract

The invention discloses a method for preventing a universal joint from being locked in a posture measurement algorithm based on euler angles. The method comprises the following steps: confirming a navigation coordinate system and a machine coordinate system; calculating an euler angle of a posture detection algorithm according to measurement values of an acceleration sensor and a magnetic sensor in a posture detection unit; setting a threshold of a fraction of the acceleration sensor on an axis X of the posture detection unit, and a threshold of a fraction of the acceleration sensor on an axisY; judging whether the output of the acceleration sensor of the posture detection unit meets the set thresholds or not, and modifying an euler angle calculation method of the posture detection algorithm according to judgment results; calculating a present posture of a detected article according to the modified euler angle calculation method. By adopting the method, the problem that a universal joint is locked can be avoided, and all-posture measurement on tested articles can be achieved.

Description

technical field [0001] The invention relates to a method for avoiding universal joint deadlock in an attitude measurement algorithm based on Euler angles. Background technique [0002] In the current attitude calculation algorithm based on Euler angles, due to the gimbal deadlock problem, full attitude analysis cannot be achieved. The range of the roll angle of the measured object can reach (-π, π], the range of the pitch angle can reach [-π / 2, π / 2], and the range of the yaw angle can reach (-π, π], which cannot meet Full attitude measurement of the measured object. In order to avoid the problem of universal joint deadlock, when performing attitude detection, it is necessary to artificially control the attitude angle of the detected object during the working process within a certain range, that is, the angle of rotation around the X axis The angle of rotation around the Y axis does not exceed ±90 degrees, and the angle of rotation around the Z axis does not exceed ±180 degr...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C1/00G06F3/01
CPCG01C1/00G01C21/20G06F3/011
Inventor 田新诚徐小龙周乐来
Owner SHANDONG UNIV
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