Attitude quaternion determination method, attitude quaternion determination apparatus, user orientation determination method, and user orientation determination apparatus

Abstract

The present invention discloses an attitude quaternion determination method, an attitude quaternion determination apparatus, a user orientation determination method and a user orientation determination apparatus. According to the attitude quaternion determination method, an accelerometer gradient gain is determined according to a characteristic function corresponding to an accelerometer measurement result at the current moment; a magnetometer gradient gain is determined according to a characteristic function corresponding to a magnetometer measurement result at the current moment; an attitudegradient at the current moment is corrected according to the accelerometer gradient gain and the magnetometer gradient gain to obtain a corrected attitude gradient at the current moment; and accordingto the attitude quaternion at the previous moment, the corrected attitude gradient at the current moment, and a determined gyroscope measurement result at the current moment, the attitude quaternionat the current moment is determined. According to the technical scheme of the present invention, the attitude gradient is corrected by determining the accelerometer gradient gain and the magnetometergradient gain to accelerate the convergence speed of the attitude gradient, such that the attitude quaternion of the terminal at the current moment can be determined according to the corrected attitude gradient so as to accelerate the azimuth convergence speed.

Description

technical field [0001] The present application relates to the technical field of orientation, and more specifically, to a method and device for determining an attitude quaternion and a method and device for determining a user orientation. Background technique [0002] A quaternion is a hypercomplex number consisting of a real number and three complex numbers, which can be used to describe the rotation of an object. Wherein the real number represents the size of the rotation, and the three complex numbers respectively represent the direction of the rotation axis in the three-dimensional space. The attitude quaternion is a quaternion that characterizes the three-dimensional space attitude of the carrier. After the attitude quaternion of the carrier is determined, the azimuth of the carrier can be calculated by the attitude quaternion. [0003] The existing technology uses multi-sensor fusion technology when solving the attitude quaternion of the carrier, such as Kalman filte...

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Problems solved by technology

However, the inventor of this case found that the existing algorithm generally has the problem of long convergence time for the azimuth angle and cannot quickly obtain the accurate azimuth angle.

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