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Posture evaluation method based on dynamic step length gradient descent

A dynamic step size, gradient descent technique, applied in the field of signal processing

Active Publication Date: 2019-04-26
LANZHOU JIAOTONG UNIV +1
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Problems solved by technology

[0004] In order to solve the above technical problems, the present invention provides an attitude estimation method based on dynamic step-size gradient descent, which solves the problems of accurate gradient descent step size and rapid convergence of attitude angles

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  • Posture evaluation method based on dynamic step length gradient descent
  • Posture evaluation method based on dynamic step length gradient descent
  • Posture evaluation method based on dynamic step length gradient descent

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Embodiment Construction

[0062] Such as Figure 1-3 As shown, the embodiment of the present invention provides an attitude estimation method based on dynamic step size gradient descent, including:

[0063] Step A: The inertial navigation device IMU has a three-axis accelerometer and a three-axis gyroscope, and collects the accelerometer and gyroscope data output by the IMU (wherein, the accelerometer outputs the acceleration data of the three axes; the gyroscope outputs the angular velocity data of the three axes) ;

[0064] Step B1: In order to correct the motion noise of the moving carrier, smooth the accelerometer data information from the IMU; then obtain a set of quaternions through the dynamic step gradient descent algorithm;

[0065] Step B2: through the differential equation of the quaternion, the output data of the gyroscope is solved to obtain another group of quaternions;

[0066] Step C: Data fusion of the two sets of data obtained in Step B1 and Step B2 to obtain the required attitude i...

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Abstract

The invention discloses a posture evaluation method based on dynamic step length gradient descent. The method comprises the steps that step A, an inertial navigation device IMU is provided with a triaxial accelerometer and a three-axis gyroscope, and data, output by the IMU, of the accelerometer and the gyroscope is collected; step B1, in order to correct motion noises of a motion carrier, data information of the accelerometer from the IMU is smoothed; then a quaternion set is obtained through a dynamic step length gradient descent algorithm; step B2, through a differential equation of quaternions, the other quaternion set is solved by utilizing data output by the gyroscope; step C, the sets of data obtained from the step B1 and the step B2 are fused, and the required posture information is obtained. The method adopts a dynamic step length gradient descent method for posture solution, and the minimum value of an error function is sought by utilizing the gradient descent method, so thatthe algorithm is simple, and the optimizing speed is higher; a one-dimensional optimizing method is adopted for conducting dynamic treatment on the gradient step length of the gradient descent method, and the dynamic performance of posture solution is strengthened.

Description

technical field [0001] The invention relates to the technical field of signal processing, in particular to an attitude estimation method based on dynamic step size gradient descent. Background technique [0002] Inertial Navigation System (INS) has been widely used due to its advantages of working around the clock and not being easily disturbed by the external environment. Micro Electro Mechanical System (MEMS) has become an inertial navigation system in recent years due to its advantages of low cost, small size, easy integration and low power consumption. The preferred device of the navigation system, the MEMS-based inertial measurement unit (IMU) can measure the three-axis gyro information and acceleration information of the carrier motion, and the carrier attitude can be obtained through the attitude calculation to realize inertial navigation. However, the gyroscope has the characteristics of temperature drift, and the drift is serious for a long time, and the integral op...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 陈光武樊子燕杨菊花程鉴皓张琳婧
Owner LANZHOU JIAOTONG UNIV
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