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Inertial measurement unit measurement data processing method, device and unmanned aerial vehicle

An inertial measurement unit and a technology for measuring data, applied in the field of communication, can solve problems such as increased sensor error and large noise

Active Publication Date: 2021-06-15
SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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Problems solved by technology

[0003] However, the noise generated by low-cost sensors is relatively large, and with the accumulation of time, the error of the sensor also increases.

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  • Inertial measurement unit measurement data processing method, device and unmanned aerial vehicle
  • Inertial measurement unit measurement data processing method, device and unmanned aerial vehicle
  • Inertial measurement unit measurement data processing method, device and unmanned aerial vehicle

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Embodiment Construction

[0088] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0089] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for purposes ...

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Abstract

The invention relates to a processing method, device and unmanned aerial vehicle for measurement data of an inertial measurement unit. The method includes the following steps: acquiring the measurement data of the inertial measurement unit; establishing an error model; establishing a filtering model according to the error model; The filtering model performs filtering processing on the measurement data to reduce errors of the measurement data. The measurement data is obtained according to the inertial measurement unit, and the error source of the IMU sensor is parameterized, and then the measurement data is processed according to the error model and the filtering model to eliminate the noise and long-term error of the sensor. The accuracy of the sensor can be improved, the main noise of the MEMS sensor can be eliminated, no additional economic cost is added, and no new circuit is added. It can improve the output accuracy of the low-cost MEMS IMU, which is conducive to improving the flight performance and other related performance of the drone.

Description

technical field [0001] The invention relates to the field of communication, in particular to a method and device for processing measurement data of an inertial measurement unit and an unmanned aerial vehicle. Background technique [0002] With the development of integrated navigation systems, low-cost micro-electromechanical systems (MEMS) inertial measurement unit (IMU) sensors have been widely used. Low-cost MEMS inertial measurement unit has the advantages of low cost and small size. [0003] However, low-cost sensors generate relatively large noise, and the error of the sensor increases as time accumulates. Contents of the invention [0004] Based on this, it is necessary to provide a method and device for processing measurement data of an inertial measurement unit with small errors, and an unmanned aerial vehicle. [0005] A method for processing measurement data of an inertial measurement unit, comprising the following steps: [0006] acquiring measurement data of...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/18
CPCG01C21/18G01C21/188
Inventor 于斌
Owner SHENZHEN AUTEL INTELLIGENT AVIATION TECH CO LTD
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