Real-time attitude acquisition method and device based on underwater robot

A technology for underwater robots and acquisition methods, applied in measuring devices, instruments, navigation, etc., can solve problems such as inaccurate data, and achieve the effect of solving inaccurate data

Active Publication Date: 2021-11-26
约肯机器人(上海)有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The main purpose of this application is to provide a real-time attitude acquisition method and device based on an underwater robot to solve the problem of inaccurate data caused by data measurement through its own machine coordinate system in the related art

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  • Real-time attitude acquisition method and device based on underwater robot
  • Real-time attitude acquisition method and device based on underwater robot
  • Real-time attitude acquisition method and device based on underwater robot

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Embodiment Construction

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0029] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for...

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Abstract

The present application discloses a real-time posture acquisition method and device based on an underwater robot. The method includes: obtaining the first underwater real-time posture of the underwater robot; obtaining a first transformation matrix according to the machine coordinate system and the earth coordinate system; The real-time attitude is converted into a second underwater real-time attitude based on the earth coordinate system; the first underwater real-time attitude of the underwater robot is obtained, and the first underwater real-time attitude is obtained according to the machine coordinate system and the earth coordinate system. The transformation matrix achieves the purpose of converting the first underwater real-time attitude into the second underwater real-time attitude based on the earth coordinate system according to the first transformation matrix, thereby realizing the conversion of data to the earth coordinate system The technical effect in this method further solves the problem of inaccurate data caused by data measurement through its own machine coordinate system in related technologies.

Description

technical field [0001] The present application relates to the field of underwater attitude acquisition, in particular, to a real-time attitude acquisition method and device based on an underwater robot. Background technique [0002] Kalman filtering is an optimal autoregressive data processing algorithm. In recent years, it has been widely used in computer image processing. In the underwater robot control system, it is necessary to synthesize and correct the data measured by the gyroscope, acceleration sensor and magnetometer sensor. If a simple mean filter is used, it is difficult to meet the requirements. Accuracy and real-time requirements, so the data of the acceleration sensor and the gyroscope are fused through Kalman filtering, and the interference of noise is well suppressed when calculating the real-time attitude of the underwater drone to improve the measurement accuracy. [0003] The inventor found that the real-time attitude measurement of the underwater robot i...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/18G01C21/16G01C21/08
CPCG01C21/005G01C21/08G01C21/165G01C21/18
Inventor 李之勤
Owner 约肯机器人(上海)有限公司
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