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Attitude angle measurement fusion system and method based on gyroscope and accelerometer

An accelerometer and angle measurement technology, which is used in navigation, attitude control, and control/adjustment systems through speed/acceleration measurement. It can solve problems such as noise interference, reduce measurement errors, improve calculation accuracy, and be robust. sexual effect

Pending Publication Date: 2019-11-12
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention is to solve the problem of noise interference and attitude optimal estimation, the present invention provides a kind of attitude angle measurement fusion system and method based on gyroscope and accelerometer, the present invention provides the following technical solutions:

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  • Attitude angle measurement fusion system and method based on gyroscope and accelerometer

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specific Embodiment 1

[0044] according to figure 1 As shown, the present invention provides a kind of attitude angle measurement fusion system based on gyroscope and accelerometer, and described system comprises: accelerometer 3, gyroscope 1, microprocessor 4, filter circuit 2, electronic regulator 5 and brushless Motor 6;

[0045] The data signal output end of the gyroscope 1 is connected to the data signal input end of the filter circuit 2, the data signal output end of the filter circuit 2 is connected to the data signal input end of the microprocessor 4, and the data signal output end of the accelerometer 3 is connected to the microprocessor The data signal input terminal of the controller 4, the control signal output terminal of the microprocessor 4 is connected to the control signal input terminal of the electronic regulator 5, and the control signal output terminal of the electronic regulator 5 is connected to the control signal input terminal of the brushless motor 6 end.

[0046] The sys...

specific Embodiment 2

[0048] according to figure 1 As shown, the present invention provides a kind of attitude angle measurement fusion method based on gyroscope and accelerometer, comprises the following steps:

[0049] Step 1: The angular velocity signal of the object measured by the gyroscope and the linear acceleration signal of the object measured by the accelerometer are used as input signals, and the microprocessor performs high-speed A / D sampling on the sensor group composed of the gyroscope, filter circuit and accelerometer;

[0050] Step 2: Establish the state equation and measurement equation of the attitude angle measurement fusion system, and use the attitude angle of the gyroscope and accelerometer to measure the true tilt angle of the fusion system As the state vector, the accelerometer is used to estimate the constant value deviation b of the gyroscope, and the state equation and observation equation of the attitude angle measurement fusion system are obtained according to b as the s...

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Abstract

The invention provides an attitude angle measurement fusion system and method based on a gyroscope and an accelerometer. The system comprises the gyroscope (1), a filter circuit (2), the accelerometer(3), a microprocessor (4), an electronic regulator (5) and a brushless motor (6), wherein the data signal output end of the gyroscope (1) is connected to the data signal input end of the filter circuit (2), the data signal output end of the filter circuit (2) is connected to the data signal input end of the microprocessor (4), the data signal output end of the accelerometer (3) is connected to the data signal input end of the microprocessor (4), the control signal output end of the microprocessor (4) is connected to the control signal input end of the electronic regulator (5), and the controlsignal output end of the electronic regulator (5) is connected to the control signal input end of the brushless motor (6). The invention reduces the attitude angle measurement error and improves theoperation precision.

Description

technical field [0001] The invention relates to the technical field of accelerometer and gyroscope signals, and relates to an attitude angle measurement fusion system and method based on gyroscope and accelerometer. Background technique [0002] In the flight control process of quadrotor aircraft, accurate and real-time acquisition of the attitude angle of the aircraft in the air is the key to determine the control accuracy and system stability. Although a single MEMS sensor can measure the attitude angle alone, its accuracy mainly depends on the accuracy of the inertial device. It is difficult to improve the hardware structure design and process alone, and the system error will accumulate over time. It is suitable for the determination of long-term carrier attitude. Therefore, it is difficult to obtain a relatively real attitude angle with a single sensor. Considering the accuracy of the attitude angle measurement, the present invention establishes its characteristic mode...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G05D1/08
CPCG01C21/18G05D1/0825
Inventor 马雪飞
Owner HARBIN ENG UNIV