Attitude fusion enhancement measuring method and system based on inertial navigation technique

Abstract

The invention provides an attitude fusion enhancement measuring method and system based on an inertial navigation technique. The method comprises the following steps: (1) acquiring attitude data detected by each sensor, and carrying out data initialization; (2) carrying out strapdown resolving on the initialized attitude data; (3) correcting the attitude data corresponding to each sensor; (4) correcting a zero point of a top in a feedback control manner according to corrected accelerated speed data and magnetometer data; and (5) outputting the corrected attitude data. The method has the beneficial effects that a magnetic anomaly detection function is realized, and the correction of a pitch angle and a roll angle is not influenced by magnetic correction; and relatively good convergence speed and control precision are provided based on a non-linear theory.

Description

technical field [0001] The invention relates to an object attitude measurement, in particular to an attitude fusion enhanced measurement method and system based on inertial navigation technology, which belongs to the technical field of inertial navigation. Background technique [0002] In real life, attitude measurement of moving objects is essential. Through the measurement of the attitude, the moving object can be controlled to make it move according to the expected attitude; the attitude change of the moving object can also be understood through the measurement of the attitude, and then its internal motion law can be known. There are six degrees of freedom in the movement of an object in space, which are three linear degrees of freedom and three angular degrees of freedom. The three angular degrees of freedom, that is, space rotation, can be intuitively represented by Euler angles, which describe the attitude of an object in three-dimensional space, usually called roll a...

AI Technical Summary

Problems solved by technology

[0005] (1) Complementary filtering usually adopts PI feedback method (k p and k I are the feedback coefficients), which belongs to the linear control method, it is difficult to guarantee the rapidity and stability of the algorithm at the same time

[0006] (2) MEMS magnetic sensors are easily affected by external interference, and the indoor magnetic field environment is even worse. Due to the influence of external magnetic interference, when the conventional complementary filtering algorithm corrects the heading angle, it often affects the pitch angle and roll angle.

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