Attitude Calculation Method Applicable to Flying Squirrel

Abstract

The invention relates to an altitude solving method for fly mouse. The fly mouse is based on a six-axis sensor. The method comprises the following steps of: obtaining an angular speed Omega and an acceleration speed a; estimation the size of an acceleration speed in a horizontal direction and determining the size of a gain factor Alpha; normalizing the acceleration speed a and solving sine and cosine values of an included angle between the acceleration speed and the horizontal direction; defining D as a gravity vector (as shown in the specification) estimated via the last altitude solution, soas to calculate error vectors e=axD, wherein Theta is a roll angle; accumulating the error vectors to calculate an error integral In=In-1+Delta t, wherein Delta t is an algorithm execution period, and e is an error calculated in the last step; and carrying out angular speed fusion Omega'=Omega+Alpha (Kpe+KiIn). According to the altitude solving method for fly mouse, the fly mouse altitude solvingcorrectness is improved, the drift feeling is reduced, the complexity of altitude solution is reduced, the timeliness of the altitude solution is improved, and the lag and cost of the fly mouse are decreased.

Description

technical field [0001] The invention relates to a flying squirrel in the air, in particular to an attitude solving method suitable for the flying squirrel in the air. Background technique [0002] There are certain studies on flying squirrels at home and abroad. As early as 2002, Alan H.F.Lam and others developed a virtual keyboard and mouse system based on a two-dimensional accelerometer. The operator only needs to install the accelerometer on the ring, and the data information can be transmitted through the wireless transmission module worn on the wrist. Send it to the computer, and then solve the data in real time through the analysis and display software, and finally complete the input control. In 2003, the University of Birmingham in the United Kingdom designed a three-dimensional mouse that can control the three-dimensional rotation on the computer screen. [0003] However, the biggest problem with the wireless air mouse is the algorithm of the mouse trajectory. At ...

AI Technical Summary

Problems solved by technology

[0007] 1. Mahony Complementary Filtering: Since the direction of acceleration is taken as the direction of gravity, and the flying squirrel is always in the process of moving, the estimation of the direction of gravity is wrong, resulting in serious drift problems;

[0008] 2. Kalman filter: a large amount of calculation, slow speed, and high cost;

[0009] 3. The built-in algorithm of the six-axis sensor has a limit on the speed of attitude calculation, and there is a sense of lag, and it is not open source, so it cannot correctly evaluate the performance of the algorithm

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