Attitude estimation method and device for electronic equipment, electronic equipment and storage medium
An electronic device and attitude estimation technology, which is applied in the field of sensors, can solve the problems of unfavorable low-performance processors for fast calculation and large amount of calculation, and achieve the effect of reducing the amount of calculation and saving computing resources
Active Publication Date: 2022-04-05
BEIJING SANKUAI ONLINE TECH CO LTD
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However, using the attitude error and gyroscope drift as the state quantity, the calculation amount is relatively large, which is not conducive to the fast solution of low-cost and low-performance processors
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[0028] Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present application can be more thoroughly understood, and the scope of the present application can be fully conveyed to those skilled in the art.
[0029] figure 1 A schematic flowchart of a method for estimating the pose of an electronic device according to an embodiment of the present application is shown. Wherein, the electronic device is used as a carrier, and a gyroscope and an accelerometer are provided therein, specifically, an attitude sensor such as a vertical gyroscope that integrates the gyroscope and the accelerometer may be provided.
[0030] S...
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The application discloses a pose estimation method and device for electronic equipment, electronic equipment and a storage medium. The electronic device is provided with a gyroscope and an accelerometer, and the method includes: determining the observed value of the attitude vector according to the observed value of the acceleration output by the accelerometer; determining the position of the attitude vector according to the angular velocity output by the gyroscope A priori estimated value; Kalman filtering is carried out according to the observed value of the attitude vector and the prior estimated value of the attitude vector to obtain the posterior estimated value of the attitude vector; according to the posterior estimated value of the attitude vector, the solution Calculate the attitude angle of the electronic device. The solution proposed in this application using the attitude vector as the observation quantity separates the attitude estimation from the gyroscope drift estimation, which can reduce the calculation amount and save calculation resources.
Description
technical field [0001] The present application relates to the field of sensor technology, and in particular to a pose estimation method and device for electronic equipment, electronic equipment and storage media. Background technique [0002] At present, various devices such as virtual reality devices, mobile phones, and unmanned vehicles are the carriers of attitude sensors, and attitude sensors such as vertical gyroscopes that integrate gyroscopes and accelerometers have been widely used. As the name suggests, the attitude sensor can be used to obtain attitude information. One way of expressing attitude information is the attitude angle, that is, pitch angle (pitch), roll angle (roll) and yaw angle (yaw). However, the data output by the gyroscope is angular velocity, and the data output by the accelerometer is acceleration, which needs to be solved to obtain the attitude angle. [0003] In the prior art, the data of the gyroscope and accelerometer are usually used to esti...
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IPC IPC(8): G01C21/20G01C21/16G01C23/00
CPCG01C21/20G01C21/165G01C23/00
Inventor 周小红申浩郝立良何祎
Owner BEIJING SANKUAI ONLINE TECH CO LTD