Method and device for determining attitude quaternion and method and device for determining user orientation
A technology of attitude quaternion and determination method, applied in the field of orientation, can solve problems such as long convergence time of azimuth angle and inability to quickly obtain azimuth angle
Active Publication Date: 2020-07-10
ALIBABA (CHINA) CO LTD
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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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[0110] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0111] The embodiment of the present application discloses a method for determining an attitude quaternion. The method can be applied to a terminal device, and the terminal device can be provided with operating sensors such as an accelerometer, a magnetometer, and a gyroscope. Common terminal devices may include smart phones, IPADs, and the like. By determining the attitude quaternion of the terminal device, the azimuth angle of the terminal device can be calculated.
[0112] see ...
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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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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 郑志超毛灵飞杨志强
Owner ALIBABA (CHINA) CO LTD