Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Estimation method for attitude of inertial navigation system

An attitude estimation and inertial navigation system technology, applied in the field of inertial navigation system attitude estimation, can solve problems such as interference measurement, large error, inaccurate horizontal attitude estimation, etc., and achieve the effect of weakening interference, optimal estimation, and high engineering application value

Active Publication Date: 2019-11-12
TIANJIN NAVIGATION INSTR RES INST
View PDF5 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, when the carrier has a motion acceleration, the accelerometer output includes the local gravity acceleration and motion acceleration. At this time, if the gravity vector is used as a reference to calculate the horizontal attitude, it will lead to a large error
That is, the acceleration of the carrier motion interferes with the measurement of the gravity vector by the accelerometer, making the horizontal attitude estimation inaccurate

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
  • Estimation method for attitude of inertial navigation system
  • Estimation method for attitude of inertial navigation system
  • Estimation method for attitude of inertial navigation system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0051] Embodiments of the present invention are described in further detail below in conjunction with the accompanying drawings:

[0052] An inertial navigation system attitude estimation method, such as figure 1 shown, including the following steps:

[0053] Step 1, taking the attitude quaternion as the state quantity, and establishing the Kalman filter state equation on the basis of the quaternion attitude update differential equation;

[0054] The concrete steps of described step 1 include:

[0055] (1) According to the known accelerometer output is y a =[0a x a y a z ]T , the gyroscope output is y g =[0 ω x ω y ω z ] T , the gravity vector is G=[0 0 0 -g] T , to establish the Kalman filter state equation, the known basic form of the state equation is:

[0056] x k+1 = Φ k x k +W k

[0057] Among them, state quantity X=[q 0 q 1 q 2 q 3 ε x ε y ε z ] T , q is the carrier attitude quaternion, ε is the gyro constant drift; state transition mat...

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 relates to an estimation method for an attitude of an inertial navigation system. The method is technically characterized by comprising the following steps of step 1, establishing a Kalman filter state equation with an attitude quaternion as a state quantity and a quaternion attitude updating differential equation as a basis; step 2, establishing a quaternion pseudo-Kalman filteringmeasurement equation with an accelerometer measurement value as input; and step 3, performing Kalman filtering measurement update according to the Kalman filter state equation established in step 1 and the quaternion pseudo-Kalman filtering measurement equation established in step 2, calculating and measuring and updating a residual error value, performing real-time estimation on a measured noisevariance according to the residual error value measured and updated by an accelerometer, dynamically adjusting the size of a measured noise variance matrix through the magnitude of motion acceleration, and further guaranteeing the attitude measurement precision of the system under dynamic conditions. By adopting the estimation method for the attitude of the inertial navigation system provided by the invention, the estimation precision of the horizontal attitude under the dynamic conditions is effectively improved.

Description

technical field [0001] The invention belongs to the technical field of IMU attitude measurement, in particular to an inertial navigation system attitude estimation method. Background technique [0002] An IMU-based attitude measurement system that utilizes accelerometer and gyroscope outputs for optimal estimation of horizontal attitude. When the carrier has no motion acceleration, the accelerometer can accurately sense the local gravity vector and fuse with the output of the gyroscope to obtain a higher-precision horizontal attitude. However, when the carrier has motion acceleration, the accelerometer output includes the local gravity acceleration and motion acceleration. At this time, if the gravity vector is used as a reference to calculate the horizontal attitude, it will lead to a large error. That is, the acceleration of the carrier motion interferes with the measurement of the gravity vector by the accelerometer, making the horizontal attitude estimation inaccurate. ...

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
Patent Type & Authority Applications(China)
IPC IPC(8): G01C9/00G01C21/18
CPCG01C9/00G01C21/18
Inventor 杨松普王琳宋高玲赵汪洋
Owner TIANJIN NAVIGATION INSTR RES INST
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com