Posture measuring method and terminal equipment

A measurement method and attitude technology, applied in the field of navigation and attitude measurement, can solve the problems of inability to provide accurate and reliable information for carrier attitude calculation, poor observability of heading angle, and susceptibility to external interference, etc., so as to improve reliability and accuracy, improve Stability, the effect of ensuring independence

Active Publication Date: 2019-01-08
MT MICROSYST
View PDF6 Cites 32 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present invention provides an attitude measurement method and terminal equipment to solve the problem that the low-cost MEMS gyroscope and accelerometer errors in the existing AHRS system are greatly affected by ext...

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Posture measuring method and terminal equipment
  • Posture measuring method and terminal equipment
  • Posture measuring method and terminal equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0024] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.

[0025] In order to illustrate the technical solutions of the present invention, specific examples are used below to illustrate.

[0026] see figure 1 , figure 1It is a schematic flowchart of an attitude measurement method provided by an embodiment of the present invention. In this embodiment, the angle triggering of a terminal is used as an example for illustration. Here, t...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention belongs to the technical field of navigation posture measurement, and provides a posture measuring method and terminal equipment. The posture measuring method comprises the following steps: initializing state quantity of Kalman filtering according to a gyroscope, an accelerometer, a magnetometer or external course information; constructing state equations of the Kalman filtering, andpredicting posture information of a carrier and errors of sensors; constructing measuring equations, outputting an roll angle and a pitch angle of horizontal posture with the accelerometer, performing measuring and updating, and adjusting a measuring variance matrix in a self-adapting manner according to the motion condition of the carrier; constructing measuring equations of a course angle, performing measuring and updating on the course of an AHRS system through the magnetometer or the external heading information; according to the output of the accelerometer, determining the motion condition of the carrier, and determining a feedback strategy of null bias error of the gyroscope. According to the posture measuring method disclosed by the invention, original output of the gyroscope is amended by the estimated null bias error feedback of the gyroscope, the problem that the conventional AHRS system cannot provide accurate and reliable information for resolution of the posture of the carrier can be solved.

Description

technical field [0001] The invention belongs to the technical field of navigation attitude measurement, and in particular relates to an attitude measurement method and terminal equipment. Background technique [0002] The rapid development of precision-guided weapons, unmanned aerial vehicles, and underwater robots has put forward higher and higher requirements for attitude measurement. The inertial navigation system (Inertial Navigation System, INS) uses the output of its gyroscope and accelerometer to use certain algorithms to calculate the position, velocity and attitude information of the carrier. However, due to errors in the output of the gyroscope and accelerometer, the position, velocity, and attitude information calculated by the inertial navigation system will accumulate over time, and long-term navigation will lead to divergence of navigation information. GNSS (Global Navigation Satellite System, GNSS) and INS have good complementary characteristics, and are comm...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 王青江付迪于翔李博闫勇伟
Owner MT MICROSYST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap