High-accuracy navigation method of low-cost inertial sensor in mobile environment

A technology of inertial sensor and navigation method, which is applied in the field of high-precision navigation of low-cost inertial sensors in a maneuvering environment, and can solve problems such as large amount of calculation of software optimization algorithms, poor portability, and reduction of calculation amount

Active Publication Date: 2018-11-23
ALLWINNER TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In view of this, the embodiment of the present invention provides a low-cost inertial sensor high-precision navigation method in a maneuvering environment to solve the problem of high complexity and poor versatility of the optimization carrier platform in the prior art, as well as the large amount of calculation of the software optimization algorithm and the transplantation problem. The problem of poor performance, the method of the present invention can overcome the influence of vibration and jitter in the mobile environment, improve the accuracy of the navigation algorithm, and reduce the amount of calculation at the same time

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  • High-accuracy navigation method of low-cost inertial sensor in mobile environment

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Embodiment 1

[0063] Embodiment 1 of the present invention can be specifically applied to products that require high-precision navigation, such as drone positioning, automatic driving, digital city, robot navigation, etc. figure 1 It is a flowchart of a low-cost inertial sensor high-precision navigation method in a maneuvering environment provided by Embodiment 1 of the present invention. The method of this embodiment specifically includes:

[0064] 110. Step 1: signal acquisition, acquiring the output signal of the inertial sensor, including acceleration and angular velocity.

[0065] 120. Data preprocessing, performing low-pass filtering on the output signal by using fast Fourier transform.

[0066] 130. Signal compensation. Compensate the current signal based on the output signal of the inertial sensor in the previous period, and the signal compensation includes cone compensation and rotation paddling compensation.

[0067] In this embodiment, the compensated rotation vector can be obt...

Embodiment 2

[0085] figure 2 It is a flow chart of a method for updating position and velocity in a maneuvering environment based on a low-cost inertial sensor provided by Embodiment 2 of the present invention. This embodiment is optimized based on the foregoing embodiments, and the method of this embodiment specifically includes:

[0086] 210. Acquire information and determine the current motion state of the carrier.

[0087] In this embodiment, the rotational speed of the carrier motor is obtained, and the three-axis angular velocity and misalignment angle of the gyroscope are obtained.

[0088] 220. Determine whether the carrier is in a steady state.

[0089] In this embodiment, when the carrier includes 4 drive motors, the acquisition of the carrier motor speed specifically includes: obtaining the current speed of the 4 drive motors of the carrier, which are respectively m 1 ,m 2 ,m 3 ,m 4 ;

[0090] Set the minimum stable value of the motor to m_eps;

[0091] If the differenc...

Embodiment 3

[0131] image 3 It is a flow chart of a Kalman filter attitude correction method based on misalignment angle provided by Embodiment 3 of the present invention. The method of this embodiment specifically includes:

[0132] 310. Acquire the measurement value of the three-axis accelerometer of the inertial sensor.

[0133] 320. Determine whether the carrier is in an accelerating state.

[0134] In this embodiment, the steps for judging whether the carrier is in an accelerating state are:

[0135] Step 1: Compute the vector sum of the three-axis accelerometers of the inertial sensors recorded as where f x , f y , f z are the three-axis acceleration values;

[0136] Step 2: Calculate the triaxial acceleration of the carrier in the low maneuvering state; the specific steps are:

[0137] In the state of low mobility of the carrier there is

[0138]

[0139] where the gravity vector is g n = [0 0 g] T , g is the local gravity acceleration, f 1 is the acceleration vec...

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Abstract

The embodiment of the invention discloses a high-accuracy navigation method of a low-cost inertial sensor in a mobile environment. The method comprises the following steps: acquiring an output signalof an inertial sensor IMU; using a fast fourier transform method to perform the low-pass filtering on the output signal of the inertial sensor IMU; performing the conical compensation and rotary paddling compensation according to the signal amount of the IMU in the previous period; judging a motion state of a carrier according to the rotation speed of a carrier motor and an angular speed of a gyroscope, and determining whether the attitude correction is needed or not; and finally, calculating the speed and position, and determining the current speed and position of the carrier. According to the technical scheme of the embodiment of the invention, the motion state of the carrier is sufficiently considered, the influence of vibration and shaking of the carrier on the IMU can be overcome, theattitude calculation is more accurate, the robustness is high, and the universality and expandability are relatively high.

Description

technical field [0001] The embodiments of the present invention relate to the field of navigation, and in particular to a high-precision navigation method of a low-cost inertial sensor in a maneuvering environment. Background technique [0002] The inertial sensor IMU is set on the carrier platform, which will generate a lot of noise under the influence of platform vibration and jitter, and the generated noise will be reflected in the sensor data, resulting in the performance degradation of the inertial sensor IMU, which cannot meet the high-precision navigation requirements . At present, there are usually two ways to overcome the above-mentioned noise influence: one is a way of software optimization, and the other is a way of optimizing a carrier platform. For most low-cost inertial sensors, due to the poor computing power of the processing unit, it is impossible to execute complex algorithms, so the method of optimizing the carrier platform is often used. However, the di...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 刘兵刘恒吕元宙庄秋彬
Owner ALLWINNER TECH CO LTD
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