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Navigation attitude calculation method and device, electronic device and computer readable storage medium

A heading attitude and calculation technology, which is applied in navigation calculation tools, navigation through speed/acceleration measurement, etc., can solve the problems of poor applicability of IMU navigation, inability to perform full attitude calculation, and unknowable rotation angular velocity, etc.

Inactive Publication Date: 2020-11-20
三一机器人科技有限公司
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Problems solved by technology

However, the existing attitude calculation algorithm uses a four-axis inertial sensor, and the A of the accelerometer x 、A y 、A z and the G of the top z , the four-axis sensor cannot know the rotational angular velocity of the X-axis and Y-axis of the car body, and cannot perform full attitude calculation, and the applicability of IMU navigation is poor

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  • Navigation attitude calculation method and device, electronic device and computer readable storage medium
  • Navigation attitude calculation method and device, electronic device and computer readable storage medium
  • Navigation attitude calculation method and device, electronic device and computer readable storage medium

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[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. the embodiment. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0033] At present, the existing attitude calculation algorithm uses a four-axis inertial sensor, and the A of the accelerometer x 、A y 、A z and the G of the top z , the four-axis sensor cannot know the rotational angular velocity of the X-axis and Y-axis of the car body, and cannot perform full attitude calculations, and the existing technology uses the integral form to calculate ...

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Abstract

The invention provides a navigation attitude calculation method and device, an electronic device and a computer readable storage medium. The navigation attitude calculation method comprises: acquiringmeasurement parameters of a target object in multiple directions at the current moment through an inertia measurement unit of the target object; wherein the measurement parameters comprise angular velocity and acceleration; according to the measurement parameters, resolving by adopting a gradient descent algorithm to obtain the heading and attitude of the target object; wherein the navigation attitude comprises a roll angle, a pitch angle and a course angle. According to the method, all-attitude calculation can be carried out, and the applicability of IMU navigation is improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent manufacturing, in particular to a method, device, electronic equipment, and computer-readable storage medium for calculating a heading attitude. Background technique [0002] With the optimization of the industrial structure of the equipment manufacturing industry, intelligent manufacturing has gradually become an emerging manufacturing model in the process of industrial structure transformation. Among them, the automatic guided vehicle (Automated Guided Vehicle, AGV) is an important part of realizing intelligent manufacturing. The automatic operation of the AGV mainly depends on the positioning module of the AGV. Most of the positioning methods are realized by the fusion of the inertial measurement unit (IMU) and other sensors; The attitude is calculated, so that the acceleration information measured by the IMU can be converted into the navigation coordinate system. However, the exi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/18G01C21/20
CPCG01C21/18G01C21/20
Inventor 孙国岐王玥杨旺喜
Owner 三一机器人科技有限公司
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