A realization method of dual-channel combination attitude determination algorithm based on optimized ukf algorithm
An implementation method, dual-channel technology, applied to navigation calculation tools, navigation, navigation and other directions through speed/acceleration measurement, which can solve problems such as magnetometer interference, inability to correct gyroscope data with full information, and waste of full attitude information.
Active Publication Date: 2021-08-20
SOUTHEAST UNIV WUXI INST OF TECH INTEGRATED CIRCUITS
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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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[0048] The present invention will be further described below in conjunction with the accompanying drawings.
[0049] figure 2It is the design diagram of the whole system. The attitude quaternion is used as the state quantity of the system. The core algorithm of the whole system is in the gyroscope / accelerometer channel and the gyroscope / magnetometer channel. Their implementation processes are the same, and the difference is the input quantity. are the respective pose quaternions, system covariance matrix and observations. After the attitude quaternion provided by the gyroscope / accelerometer channel is converted into Euler angles, the roll angle and pitch angle of the attitude determination system are provided, and the attitude quaternion provided by the gyroscope / magnetometer channel is converted into Euler angles Finally, the heading angle of the attitude fixing system is provided; finally, the obtained roll angle, pitch angle and heading angle of the attitude fixing system...
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The invention provides a method for realizing the dual-channel combined attitude determination algorithm based on the optimized UKF algorithm, comprising the steps: Step 1: using an accelerometer and a magnetometer to form a filtering system with a gyroscope respectively; collecting nine-axis through a MEMS nine-axis sensor The data is transmitted to the host; step 2: the host uses the UKF algorithm to calculate the attitude of the gyroscope / accelerometer channel and the gyroscope / magnetometer channel respectively, and obtain the roll angle, pitch angle and heading of the attitude determination system respectively Step 3: The roll angle, pitch angle and heading angle of the attitude determination system obtained in step 2 are fused to obtain the final attitude. Aiming at the conventional attitude calculation system, the invention successfully solves the restrictive relationship among speed, precision and stability, and improves the precision and system stability while reducing the amount of calculation as much as possible. The algorithm proposed by the present invention is implemented using all numbers, and has nothing to do with the platform, and the method is relatively simple and 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...
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IPC IPC(8): G01C21/20G01C21/00G01C21/18G01C21/16G01C21/08
CPCG01C21/005G01C21/08G01C21/165G01C21/18G01C21/20
Inventor 刘昊黄成
Owner SOUTHEAST UNIV WUXI INST OF TECH INTEGRATED CIRCUITS