Method of MEMS sensor-based strap-down inertial navigation system (SINS) data preprocessing and attitude calculation
A strapdown inertial navigation and system data technology, applied in the field of sensors and inertial navigation, can solve the problems of cumbersome attitude angle error equation, unfavorable practical use, and increased calculation amount, and achieve the effect of eliminating random noise and suppressing drift error
Active Publication Date: 2020-01-17
中科探海(苏州)海洋科技有限责任公司
View PDF3 Cites 3 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In order to improve the accuracy of attitude calculation, Extended Kalman Filter (EKF) can be used for attitude calculation, and the state equation and observation equation of attitude angle can be established. The right parameters can filter out environmental interference and process noise, but the derived attitude angle The error equation is cumbersome, and when the state equation or observation equation is nonlinear, the use of EKF needs to calculate the Jacobian matrix, which increases the amount of calculation, which is not conducive to practical use
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 moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0032] Embodiments of the present invention will be described in detail below. It is illustrated that the present embodiments are illustrative and are only used to explain the present invention, but cannot be construed as limitations of the present invention. A kind of MEMS sensor-based strapdown inertial navigation system data preprocessing and the method for attitude solution of the present invention will be described in detail below with reference to the accompanying drawings:
[0033] like figure 1 As shown, it can be seen that the whole process is mainly divided into two stages: the first stage is the preprocessing of the collected MEMS inertial device data; the second stage is to use the data preprocessed in the first stage, and adopt the attitude fusion algorithm respectively And UKF algorithm for attitude calculation.
[0034] The first stage is to preprocess the data of the inertial device, which is implemented in the following steps:
[0035] 1. To process the data...
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
Login to View More Abstract
The invention discloses a method of MEMS sensor-based strap-down inertial navigation system (SINS) data preprocessing and attitude calculation. For obtaining accurate attitude information, data measured and obtained by an inertial device are respectively processed in two stages. In a first stage, influences of drifting, random errors and the like of an MEMS sensor are considered, the measurement data are preprocessed, an ARMA model of drifting is established, and then Kalman filtering and sliding mean-value filtering are used for related calculation; and in a second stage, firstly an attitudefusion algorithm is used to obtain an initial attitude angle, then an attitude angle state equation and observation equation are established, and a high-precision algorithm of unscented Kalman filtering (UKF) is used for attitude integration. The method can significantly suppress noises and drifting errors and eliminate outliers and the like through preprocessing, and use a UKF algorithm to further improve precision of attitude calculation.
Description
technical field [0001] The invention relates to the field of sensors and inertial navigation, more specifically, to a method for data preprocessing and attitude calculation of a MEMS sensor-based strapdown inertial navigation system. Background technique [0002] In recent years, with the rapid development of MEMS technology, MEMS sensors have gradually been used in the IMU field due to their advantages of low cost, small size, and low power consumption, such as in drones, attitude reference systems, underwater robots, single Therefore, it is of great significance to study the attitude calculation of the strapdown inertial navigation system with MEMS sensors. [0003] Strapdown Inertial Navigation System (SINS) is an autonomous navigation system that does not rely on external information and does not radiate information to the outside. In theory, the inertial navigation system can calculate the attitude angle based on the information measured by the inertial sensor, but the ...
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
Login to View More IPC IPC(8): G01C21/20G01C21/16
CPCG01C21/20G01C21/165
Inventor 刘维王明杭任申真许文正吴文轩黄天骁
Owner 中科探海(苏州)海洋科技有限责任公司