Posture measuring method and terminal equipment

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...

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 external environmental disturbances and fluctuations, and the attitude measurement accuracy and heading angle can be observed. Poor performance and vulnerable to external interference, unable to provide accurate and reliable information for carrier attitude calculation

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