System and method for inertial measurement of rotating shaft angle of single-axis rotating carrier

Abstract

The invention provides a single-shaft rotating carrier rotating shaft rotating angle inertia measurement system and method, the system comprises inertia measurement equipment and a computer; the inertia measurement equipment comprises a microprocessor, and a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer which are in electric signal connection with the microprocessor; the inertial measurement equipment is further provided with a fixed end, and the inertial measurement equipment is fixedly arranged at any position of any plane of the rotary carrier through the fixed end; the inertia measurement equipment is in communication connection with the computer; the computer is used for calculating the rotating shaft rotating angle of the rotating carrier according tothe attitude information of the inertial measurement equipment; by solving an incremental quaternion, the rotation shaft rotation angle information of the single-shaft rotation carrier can be outputin real time by combining the relation between the increment quaternion and the shaft angle pair, the method is easy to operate, complex measurement equipment does not need to be assumed, the measurement process is simplified, the equipment size is small, work completely depends on self equipment, concealment is good, work is not limited by the measurement environment, measurement is flexible, andreliability is high.

Description

technical field [0001] The invention belongs to the technical field of inertial detection, and is a flexible, convenient and high-precision single-axis rotating carrier shaft angle measurement system and method, and relates to an industrial-grade three-axis gyroscope, an industrial-grade three-axis accelerometer, and an industrial-grade three-axis magnetic sensor. The invention discloses a measuring system and method for the rotation angle of a rotating carrier of a uniaxial rotating carrier. Background technique [0002] In the fields of robotics, aerospace, medical rehabilitation, etc., the rotation axis and rotation angle of the single-axis rotating carrier can be flexibly and accurately measured, so as to achieve the purpose of parameter correction, fault diagnosis and effective control. At present, the rotation angle measurement of the single-axis rotating carrier can be divided into mechanical measurement, electromagnetic measurement, optical measurement and vision-bas...

AI Technical Summary

Problems solved by technology

[0005] The present invention aims at the problems of complicated measurement process and inflexible measurement process of the existing single-axis rotation carrier shaft angle measurement method, and proposes a single-axis rotation carrier shaft rotation angle inertial measurement method, the purpose of which is to provide a flexible and convenient rotation shaft angle inertial measurement method , to improve the accuracy and flexibility of measuring the rotation angle of the single-axis rotating carrier

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