Dual-channel combined attitude determination algorithm implementation method based on optimized UKF (Unscented Kalman Filter) algorithm

Abstract

The invention provides a dual-channel combined attitude determination algorithm implementation method based on an optimized UKF(Unscented Kalman Filter) algorithm. The implementation method comprisesthe steps: step1, an accelerometer and a magnetometer are utilized to respectively form smoothing systems with a gyroscope, and an MEMS nine-axis sensor is utilized to collect nine-axis data and transmit the nine-axis data to a host end; step 2, the host end is utilized to respectively perform attitude resolving on a gyroscope / accelerometer channel and a gyroscope / magnetometer channel through a UKF algorithm to respectively obtain a roll angle, a pitch angle and a course angle of an attitude determination system; step 3, data fusion is performed on the roll angle, the pitch angle and the course angle obtained in the step 2 of the attitude determination system to obtain final attitude. Aiming at a general attitude resolving system, the implementation method disclosed by the invention successfully solves the restrictive relation among speed, accuracy and stability; the calculated amount is reduced as possible, and accuracy and system stability are improved at the same time. The algorithmdisclosed by the invention is achieved through all digital and further has platform independence, so that the method is simpler and more practical.

Description

technical field [0001] The invention belongs to the field of attitude calculation algorithms, and designs an implementation method of a dual-channel combined attitude determination algorithm based on an optimized UKF algorithm, which can be used in the field of attitude information calculation of unmanned aerial vehicles and wearable devices. Background technique [0002] In recent decades, with the emergence and development of micro-electromechanical systems (MEMS) technology, the realization of micro-measurement systems has become possible, and the related inertial navigation technology has a wider range of application scenarios, such as UAV control navigation technology, Robot motion control, wearable devices with motion recognition, etc. Compared with traditional inertial sensors, sensors based on MEMS technology are small in size, low in power consumption, and cheap in price, making them favored by many researches in recent years. In the small motion measurement system...

AI Technical Summary

Problems solved by technology

As we all know, the accelerometer and the magnetometer cannot measure the complete attitude alone, so it is impossible to correct the gyroscope data with full information. Now the mainstream algorithm is the fusion of the gyroscope and the accelerometer to obtain the roll angle and heading angle, and the heading is calculated by a single magnetometer. Angle, this not only wastes the full attitude information measured by the gyroscope, but also produces a large error due to the interference of the magnetometer

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