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Micro-inertia attitude measurement device and method based on polyhedral array structure

An array structure and measurement device technology, applied in the field of strapdown inertial navigation, can solve problems such as difficult identification and separation, and affect the measurement accuracy of the carrier's motion attitude, so as to avoid error accumulation, avoid linearized measurement equations, and achieve real-time and accurate error estimation. Effect

Active Publication Date: 2021-04-30
青岛励精海洋科技有限公司
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem that the micro inertial measurement unit is difficult to accurately identify and separate in the face of small gradient acceleration interference in the process of attitude calculation, thereby affecting the measurement accuracy of the carrier motion attitude, and to provide a micro inertial measurement unit based on a polyhedron array structure. The attitude measurement device and method can balance the projection of the acceleration of gravity on each accelerometer, accurately capture the motion process of the small gradient acceleration, and at the same time adopt a discrete multi-order Kalman filter structure in the fusion filter method to avoid linearized observation equations, Accurately estimate the motion error model to ensure stable and reliable operation of the system

Method used

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  • Micro-inertia attitude measurement device and method based on polyhedral array structure

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Embodiment 1

[0032] Embodiment 1 One of the embodiments of the micro-inertial attitude measurement device based on the polyhedral array structure of the present invention, see figure 1 and figure 2 , mainly composed of a regular quadrangular pyramid hexahedron 1, a micro inertial measurement unit and a processor control unit 13. The micro inertial measurement unit is mainly composed of a three-axis gyroscope 3, a three-axis magnetometer 4, a first three-axis accelerometer 8, a second three-axis accelerometer 10, a third three-axis accelerometer 14, and four circuit boards .

[0033] The regular quadrangular pyramid hexahedron 1 is a symmetrical structure, wherein the included angles between adjacent side surfaces, and the included angles between the side surfaces and the top and bottom surfaces are all 60 degrees. The first slope circuit board 7 and the second slope circuit board 11 are respectively fixed on two adjacent side surfaces of the regular square pyramid hexahedron 1 by four n...

Embodiment 2

[0038] Embodiment 2 This embodiment provides a micro-inertial attitude measurement method, which is realized by the micro-inertial attitude measurement device based on the polyhedral array structure in Embodiment 1.

[0039] see Figure 4 Shown flow chart, the concrete steps of this method are as follows:

[0040] Step S21: Micro inertial measurement unit collects data

[0041] The micro inertial measurement unit needs to be strictly calibrated before use. The calibrated parameters are stored in the FLASH controlled by the processor. Combined calculation of magnetic field data to obtain measured data after calibration.

[0042] Step S22 discrete multi-order Kalman filter

[0043] After obtaining the calibrated sensor measurement data, enter the controller processing unit, and calculate the state quantity in real time through two discrete Kalman filters and The structure and update process of the filter are as follows: two separate discrete Kalman filter model structures...

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Abstract

The invention belongs to the technical field of strapdown inertial navigation, and particularly relates to a micro-inertial attitude measurement device and method. The micro-inertia attitude measurement device based on a polyhedral array structure comprises a micro-measurement unit, and the micro-measurement unit at least comprises three three-axis accelerometers; and the three three-axis accelerometers are respectively arranged at space included angles of 20-70 degrees, and the included angles among the three three-axis accelerometers are equal. According to the micro-inertia attitude measurement device designed by the invention, the structural principle is that three three-axis accelerometers are respectively arranged according to a spatial included angle of 20-70 degrees, so that aiming at random motion in space, in a three-dimensional space, the triaxial accelerometer on at least one surface is ensured not to cause the phenomenon that the acceleration on the motion axis is too small relative to the weights of other axes, so that the small-amplitude gradient acceleration in the motion of the carrier is difficult to identify, and the attitude calculation error is too large. And meanwhile, the horizontal plane measured by the gravitational acceleration can be captured in time.

Description

technical field [0001] The invention belongs to the technical field of strapdown inertial navigation, and in particular relates to a micro-inertial attitude measurement device and method. Background technique [0002] In the research of the Attitude Heading Reference System (AHRS) based on the Micro Inertial Measurement Unit (MIMU), the current interference and separation methods for motion acceleration usually use the basic process of comparing the measured value of the accelerometer with the acceleration of gravity to calculate the acceleration of the accelerometer. The motion interference in the measurement, thereby amplifying or reducing the noise covariance matrix in the filter, so as to achieve the purpose of suppressing the motion interference. Since the distribution of gravitational acceleration in the three-axis accelerometer is usually uneven, the motion acceleration on the motion axis with too small weight cannot be displayed sensitively in the comparison, and the...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 杨英东吴玉尚刘世萱陈世哲
Owner 青岛励精海洋科技有限公司