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An attitude sensing device and data fusion and attitude calculation method

A technology of data fusion and attitude sensing, which is applied to measuring devices, instruments, surveying and navigation, etc., can solve the problems of inability to upgrade programs online and low accuracy of attitude sensing devices, and achieve temperature drift suppression, low cost, and easy Achieved effect

Active Publication Date: 2021-04-20
XI AN JIAOTONG UNIV
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AI Technical Summary

Problems solved by technology

The attitude sensing device can output roll angle, pitch angle and heading angle, but the zero drift and temperature drift of the heading angle cannot be solved well, resulting in low accuracy of the attitude sensing device
At the same time, the attitude sensing device only has a power interface and a communication interface externally, and cannot perform online upgrades of the program

Method used

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Embodiment Construction

[0027] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0028] see figure 1 As shown, an attitude sensing device of the present invention includes an MCU 1 , an attitude data acquisition module 2 , an attitude data storage module 3 , an attitude data communication module 4 and a power supply module 5 .

[0029] Among them, MCU 1 is used as the main control unit to receive the attitude data sent by the attitude data acquisition module, and realize the processing of the attitude data, and realize data fusion and attitude calculation.

[0030] The attitude data acquisition module 2 is a MEMS inertial sensor, including a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer and a motion digital processing engine, and performs data communication with the MCU through a communication interface.

[0031] The attitude data collection module 2 is used to collect attitude data and send...

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Abstract

An attitude sensing device, data fusion, and attitude calculation method, first collect attitude data through an attitude data acquisition module, and transmit the collected attitude data acquisition module to an MCU; the MCU sends the received attitude data to an MPL library; through the MPL library solution to obtain the calculated pitch angle, roll angle and heading angle; sample the heading angle value every 20s, make a difference between the heading angle after each sampling and the calibration value, and accumulate all the differences , to get the accumulated value; subtract the accumulated value from the value of the heading angle collected in real time to obtain the calibrated heading angle, and complete the update of the attitude. The invention is based on the data fusion and attitude dissolution method of the motion digital processing engine, which can effectively suppress the zero drift and temperature drift of the heading angle, and the accuracy can reach 0.1°.

Description

technical field [0001] The invention relates to an attitude sensing device and a method for data fusion and attitude calculation. Background technique [0002] MEMS inertial sensors are widely used in consumer electronics and industrial-grade military-grade electronics. Inertial sensors include accelerometers, gyroscopes, and magnetic sensors for an attitude reference system. At present, attitude sensing devices mostly use six-axis MEMS inertial sensors, including three-axis accelerometers and three-axis gyroscopes; or nine-axis MEMS inertial sensors, including three-axis accelerometers, three-axis gyroscopes, and three-axis magnetometers. The attitude sensing device can output roll angle, pitch angle, and heading angle, but the zero drift and temperature drift of the heading angle cannot be well resolved, resulting in low accuracy of the attitude sensing device. At the same time, the attitude sensing device only has a power supply interface and a communication interface e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00G01C21/16
CPCG01C1/00G01C21/16
Inventor 杨爱军邵文奇王露缙袁欢王小华荣命哲刘定新
Owner XI AN JIAOTONG UNIV
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