Synchronous external acceleration identification and attitude estimation method for field operation vehicle

Abstract

The invention discloses a synchronous external acceleration identification and attitude estimation method for a field operation vehicle. The synchronous external acceleration identification and attitude estimation method includes: on the bases of measurement models of a three-axis gyroscope and a triaxial accelerometer, deducing a first-order lowpass filtering model of external acceleration, and combining the first-order lowpass filtering model into a kalman filter; adopting measurement quantities omega X, omega Y and omega Z, of the three-axis gyroscope, as state input quantities of the Kalman filter; adopting measurement quantities aX, aY and aZ, of the triaxial accelerometer, as observation input quantities of the Kalman filter to perform external acceleration correction; establishing astate equation and an observation equation, including three state vectors and three observation vectors, of systematic Kalman filtering, and precisely measuring an attitude angle of the field operation vehicle and identifying the external acceleration. The synchronous external acceleration identification and attitude estimation method for the field operation vehicle has the advantages that influence of the external acceleration of the vehicle on attitude measurement is considered, attitude measurement precision of the field operation vehicle can be increased effectively, and operation qualitycan be improved.

Description

technical field [0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a method for external acceleration identification and posture synchronization estimation of a field operation vehicle. Background technique [0002] Inertial navigation technology is a completely autonomous navigation technology developed in the middle of the 20th century. The angular velocity and acceleration information of the carrier relative to the inertial space is measured by the inertial measurement component, and the instantaneous velocity and position information of the carrier is automatically calculated by using Newton's law of motion. . It can continuously provide all navigation and guidance parameters (position, linear velocity, angular velocity, attitude angle) of the carrier, and is widely used in the fields of aerospace, aviation, and navigation, especially in the military field. The accurate estimation of the attitude angle of agricultur...

AI Technical Summary

Problems solved by technology

The four-element method requires Taylor expansion when calculating, and usually ignores its higher-order terms to convert nonlinearity into linearity for attitude estimation, and there are errors

The accelerometer can solve the Euler attitude angle of the quasi-static gorge object, and there is no cumulative error problem without integral operation, but the attitude angle solved by it is affected by external acceleration and cannot be applied under dynamic conditions

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