Self-adaptive quaternion-based attitude estimation method and device

Abstract

The invention discloses a quaternion-based attitude estimation method. The quaternion-based attitude estimation method comprises the following steps: constructing a Kalman filter according to quaternions; acquiring observed quantities of a magnetometer and an accelerometer; determining whether the observed quantity of the accelerometer exceeds the limit or not, and if the observed quantity of theaccelerometer and the observed quantity of the magnetometer do not exceed the limit, updating the observed value of the Kalman filter to obtain an updated quaternion; and performing normalization andcovariance matrix symmetry processing on the updated quaternion to obtain final attitude information. The invention further discloses electronic equipment and a computer readable storage medium. According to the quaternion-based attitude estimation method, all-attitude estimation can be performed without linearizing the quaternion, and the quaternion-based attitude estimation method is insensitiveto the initial attitude of a carrier; observation results of various sensors are fused, zero offset existing in the working condition of a gyroscope is considered, modeling is carried out on noises of the zero offset, so that the attitude estimation precision, accuracy and robustness are improved.

Description

technical field [0001] The present invention relates to the technical field of attitude detection, in particular to an adaptive quaternion-based attitude estimation method and device. Background technique [0002] At present, a variety of sensors have been comprehensively applied to specific carriers on a large scale. For a single sensor, the fusion of multiple sensors for carrier attitude estimation is of great significance to improve the accuracy, accuracy and robustness of the attitude estimation results. [0003] 1. Fusion of multiple sensors for attitude estimation requirements background [0004] Thanks to the development of micro-electro-mechanical system technology (Micro-Electro-Mechanical System, MEMS), more and more sensors have become miniaturized, low-cost, and easy to obtain. For example, smartphones integrate gyroscopes, accelerometers, Magnetometers, infrared sensors, cameras, etc. With the continuous improvement of the computing power of the embedded platf...

AI Technical Summary

Problems solved by technology

[0005] 2. Full attitude estimation requirement background

[0006] In the scene of full attitude estimation, such as unmanned aerial vehicles, wearable devices, handheld devices, etc., if the attitude of the carrier is estimated in the form of Euler angles, the pitch angle of the carrier may be 90°. At this time, the effective parameters of the Euler angle will degenerate from three to two, and the attitude of the carrier at this time cannot be determined.

[0007] 3. Orientation problem in complex and changeable environment

But the Earth's magnetism is susceptible to interference

At the same time, the linear acceleration of the carrier will also interfere with the attitude of the carrier observed by the accelerometer.

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