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Method and device for attitude measurement

An attitude and attitude quaternion technology, applied in the field of attitude measurement methods and devices, can solve the problems of low measurement accuracy and can only be used for static measurement, and achieve the effects of improving measurement accuracy, avoiding magnetic interference, and avoiding high-frequency shaking

Inactive Publication Date: 2021-09-24
武汉深海蓝科技有限公司
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Problems solved by technology

[0004] The present invention solves the technical problems of low measurement accuracy and can only be used for static measurement in the prior art by providing an attitude measurement method and device, and realizes the technical effect of improving measurement accuracy and realizing dynamic measurement

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  • Method and device for attitude measurement
  • Method and device for attitude measurement

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Embodiment Construction

[0035] Example embodiment of the present invention by providing an attitude measurement method and device to solve the prior art measurement accuracy is low and can only be used for static measurements of technical problems, to achieve improved accuracy and achieve the effect of dynamic measurement techniques.

[0036] Technical solutions in the embodiments of the present invention is to solve the above problems, the general idea is as follows:

[0037] To obtain the pitch angle, roll angle, and the angle of the geomagnetic three component variation amount, and then the pitch angle, roll angle, three-component solutions of the geomagnetism is calculated quaternion, followed by filtering and quaternion angle variation, to give quaternion output data; Finally quaternion converting output data of the angle, the attitude obtained results. Embodiments of the present invention is obtained by variation of the angle of the pitch angle obtained roll angle, three-component geomagnetism comp...

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Abstract

The invention discloses an attitude measuring method and device. First obtain the pitch angle, roll angle, geomagnetic three-component and angle change, and then calculate the attitude quaternion by solving the pitch angle, roll angle, and geomagnetic three-component, and then filter the attitude quaternion and angle change to obtain The quaternion output data; finally, the angle transformation is performed on the quaternion output data to obtain the attitude result. The invention compensates the obtained three components of pitch angle, roll angle and geomagnetism through the obtained angle variation, avoids magnetic interference and high-frequency shaking, improves measurement accuracy and realizes dynamic measurement.

Description

Technical field [0001] Technical Field The present invention relates to attitude measurement, particularly to a method and apparatus for measuring the attitude. Background technique [0002] Electronic compass, also known as digital compass, in conditions of modern technology, the electronic compass or attitude sensor as the navigation device has been widely used. Compared with a conventional electronic compass pointer and compass gimbal structure, low power consumption, small size, light weight, high accuracy, can be miniaturized, the output signal may be implemented by a digital display process, not only can be used to point to which a digital signal may also directly to the autopilot, the control operation of the ship. [0003] Since the electronic compass using the magnetic field measurements is to measure the orientation of the platform, so its external disturbance magnetic field is affected, thus affecting the measurement accuracy thereof. Further, needs to be measured by t...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/08G01C21/16
CPCG01C21/08G01C21/16
Inventor 庞学亮殷超向前
Owner 武汉深海蓝科技有限公司
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