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All-attitude solution method for micro-electro-mechanical systemInertial measurement unit (MEMS IMU) under rocking substrate

A full-attitude and calculation technology, applied in the inertial field, can solve the problems of inability to calculate the attitude, electromagnetic equipment interference, and limit the application range, etc., and achieve the effects of low cost, improved applicability, and wide application

Inactive Publication Date: 2018-09-28
TSINGHUA UNIV
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Problems solved by technology

[0005] In the related technology, the north-seeking under the static base is realized by single-axis rotation modulation, but the attitude calculation cannot be performed on the swing base; the magnetometer and the Kalman filter algorithm are used to realize the attitude calculation, but the disadvantage is that the introduction of Magnetometers are susceptible to interference from electromagnetic equipment, and cannot directly achieve full-attitude calculations based on the output data of MEMS IMUs, which limits their application range

Method used

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  • All-attitude solution method for micro-electro-mechanical systemInertial measurement unit (MEMS IMU) under rocking substrate
  • All-attitude solution method for micro-electro-mechanical systemInertial measurement unit (MEMS IMU) under rocking substrate
  • All-attitude solution method for micro-electro-mechanical systemInertial measurement unit (MEMS IMU) under rocking substrate

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Embodiment Construction

[0033] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0034] The method for calculating the full attitude of the MEMS IMU under the swing base according to the embodiment of the present invention will be described below with reference to the accompanying drawings.

[0035] figure 1 It is a flow chart of the method for calculating the full attitude of the MEMS IMU under the swing base according to an embodiment of the present invention.

[0036] Such as figure 1 As shown, the full attitude calculation method of the MEMS IMU under the swing base includes the following steps:

[003...

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Abstract

The invention discloses an all-attitude solution method for a micro-electro-mechanical systemInertial measurement unit (MEMS IMU) under a rocking substrate. The method comprises defining a coordinatesystem that satisfies a preset rule, rotating the MEMS IMU in a positive and negative continuous rotation manner in the defined coordinate system, acquiring data of an MEMS inertial device in rotation, and according to the data of the MEMS inertial device, through the combination of the inertial alignment algorithm and the Mahony algorithm, acquiring the all-attitude solution result of the MEMS IMU. The method is free of auxiliary information of a satellite or a magnetometer, can achieve a certain all-attitude calculation accuracy and can effectively improve the accuracy of the calculation, which has an important application value in the absence of a satellite signal or a magnetic field interference environment. The MEMS IMU has the advantages of low cost, small size, impact resistance andthe like, can be widely used and effectively improves the applicability.

Description

technical field [0001] The present invention relates to the field of inertial technology, in particular to a method for calculating the full attitude of a MEMS IMU (Micro-Electro-Mechanical System Inertial Measurement Unit, Micro-Electro-Mechanical System Inertial Measurement Unit) under a rocking base. Background technique [0002] With the rapid development of inertial technology, MEMS IMU has more and more applications in the field of inertial navigation. MEMSIMU has the advantages of low cost, small size, light weight, and impact resistance. It is widely used in the fields of drones, individual navigation, robots, wearable devices, and attitude reference systems. Therefore, it is of great significance to study MEMS IMUs. . [0003] Since the MEMS inertial device has a large constant value deviation, if the attitude calculation is performed directly, it will cause a large error. In order to reduce the influence of the constant value deviation of MEMS inertial devices an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/16G01C21/20
Inventor 郭美凤邢海峰杨浩天王成宾
Owner TSINGHUA UNIV
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