Attitude detection method and attitude detection device based on multi-imu fusion
A detection method and attitude technology, applied in the field of attitude detection method and attitude detection device based on multi-IMU fusion, can solve the problems of installation and use not as convenient as IMU, easy to be interfered by magnetic field environment, not suitable for long-term use, etc. Improve the anti-magnetic interference ability, improve the fault tolerance ability, and weaken the effect of the impact
Active Publication Date: 2022-07-01
YANSHAN UNIV
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Among them, the 6-axis IMU, that is, the IMU without an electronic compass, has a large drift when measuring the yaw angle, and it is not suitable for long-term use. When the acceleration or angular velocity changes rapidly, the measured yaw angle will also slip. 9-axis The IMU, that is, the IMU with an electronic compass relies on the measurement of the weak earth's magnetic field when measuring the yaw angle, and is easily disturbed by the magnetic field environment
[0003] At present, there are many methods for measuring yaw angle, such as RTK that supports positioning and orientation, visual positioning based on maps, laser north-seeking, mechanical code discs, and even the optical three-dimensional motion capture analysis system Vicon, etc. Although these methods solve the problem of magnetic field interference, but It also introduces new restrictions, installation and use are not as convenient as IMU, and the price is much higher than IMU
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[0055] In order to detail the technical content, achieved objects and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.
[0056] like figure 1 As shown, the attitude detection method runs in an embedded system. The embedded system includes hardware and software. The hardware includes an embedded processor, a main IMU and several auxiliary IMUs. The main IMU is mounted with an electronic compass, and the auxiliary IMU does not need to be mounted. The electronic compass is carried, and the software runs on the embedded microprocessor; the auxiliary IMU sends three Euler angles representing its own attitude to the embedded processor, and the main IMU sends three Euler angles representing its own attitude and magnetic field strength to the embedded processor. , three-axis acceleration and angular velocity, the embedded processor can send commands to the main IMU to switch the attitude calculation algorithm.
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The invention provides an attitude detection method based on multi-IMU fusion and an attitude detection device thereof. The installation of multiple IMUs in the device maintains a certain angle with each other, so that one IMU always has a certain inclination in the measurement. When the system is initialized, the electronic compass mounted under the main IMU collects the magnetic field strength to determine the validity of the initial yaw angle. When the electronic compass detects strong magnetic interference during the measurement, the inclination angle of the main IMU and the auxiliary IMU is calculated, and the maximum inclination angle is used. An IMU close to 45 degrees or 135 degrees is used to observe the yaw angle increment to obtain the weak drift yaw angle of the multi-IMU fusion. Calculate the interference coefficient S and mutation factor I according to the magnetic field interference, acceleration or angular velocity mutation, and then fuse the yaw angle calculated by the AHRS attitude calculation algorithm with the weak drift yaw angle of the multi-IMU fusion to obtain the multi-IMU fusion antimagnetic Interfering yaw angle. The invention can improve the anti-magnetic field interference ability of the attitude sensor, and can weaken the drift of the relative yaw angle measured by the IMU without an electronic compass.
Description
technical field [0001] The invention relates to the field of embedded technology, in particular to an attitude detection method based on multi-IMU fusion and an attitude detection device thereof. Background technique [0002] In recent years, electronic inertial measurement units have been widely used in drones, unmanned vehicles, smart phones and other fields, but there are problems of drift and magnetic interference in yaw angle measurement. Among them, the 6-axis IMU, that is, the IMU without an electronic compass, has a large drift when measuring the yaw angle, so it should not be used for a long time. When the acceleration or angular velocity changes rapidly, the measured yaw angle will slide. The IMU, that is, the IMU with an electronic compass, relies on the measurement of the weak earth's magnetic field when measuring the yaw angle, and is easily disturbed by the magnetic field environment. [0003] At present, there are many methods for measuring yaw angle, such as...
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IPC IPC(8): G01C21/18G01C21/16G01C21/00G01C21/08
CPCG01C21/18G01C21/165G01C21/005G01C21/08
Inventor华长春穆殿瑞丁伟利赵凯陈传虎
OwnerYANSHAN UNIV