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Pan-tilt attitude estimation method based on extended Kalman filtering

An extended Kalman and attitude estimation technology, applied in the field of Kalman filtering, can solve problems such as lack of accuracy and unsatisfactory results, and achieve the effects of improving accuracy, avoiding mutual interference, and reducing influence

Active Publication Date: 2021-07-23
PEKING UNIV
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Problems solved by technology

[0003] However, since the accelerometer and the magnetometer are sensors that are extremely susceptible to external interference, the accuracy of the complementary filtering algorithm is often lacking, and the effect of the traditional Kalman filtering algorithm is not satisfactory.

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  • Pan-tilt attitude estimation method based on extended Kalman filtering
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  • Pan-tilt attitude estimation method based on extended Kalman filtering

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Embodiment Construction

[0087] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0088] Such as figure 1 Shown, the present invention is based on the PTZ attitude estimation method of extended Kalman filter, comprises:

[0089] 1. The heading and attitude reference system (AHRS) is used to provide more accurate attitude information to the gimbal controller. The attitude information is represented by Euler angles, which include pitch angle, roll angle and yaw angle. The pitch angle is the rotation angle Φ of the gimbal around the Y axis; the roll angle is the rotation angle θ of the gimbal around the X axis; the yaw angle is the rotation angle ψ of the gimbal around the Z axis. AHRS provides the navigation coordinate system and the body coordinate system. The direction cosine matrix (DCM) expresses the relationship between the two coordinate systems, and contains the relevant attitude information of the gimbal. Due to the defect of the...

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Abstract

The invention provides a pan-tilt attitude estimation method based on extended Kalman filtering. The method employs quaternion to represent the current attitude of an object, a system state quantity comprises the offset error of quaternion and angle increment, an accelerometer and a magnetometer are used to correct the offset error of angle increment, and the attitude estimation is be more accurate. Accelerometer correction and magnetometer correction are implemented in two stages so that the accelerometer correction and the magnetometer correction do not interfere with each other, and the attitude estimation accuracy is improved; and in the correction of the accelerometer, the third vector of the quaternion in the correction is set to be zero, and in the correction of the magnetometer, the first vector and the second vector of the quaternion in the correction are set to be zero. According to the invention, more accurate attitude estimation information can be obtained.

Description

technical field [0001] The invention relates to Kalman filter technology, in particular to a pan-tilt attitude estimation algorithm based on quaternion extended Kalman filter. Background technique [0002] In recent years, with the widespread application of smart devices such as handheld gimbals, people have put forward higher requirements for their stability and accuracy. To make these devices work more stably, it is especially important to obtain more accurate attitude estimation information. important. In most attitude estimation algorithms, the gyroscope is used to update the attitude information, and the accelerometer and magnetometer are used to correct the attitude information. At present, the widely used attitude estimation algorithms include Kalman filtering algorithm and complementary filtering algorithm, both of which can reduce the influence of Gaussian noise on attitude estimation, and can also reduce the cumulative error caused by gyroscope drift. [0003] Ho...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16G01C25/00
CPCG01C21/20G01C21/165G01C25/005
Inventor 蔡一茂黄榕青杨韵帆周子博赵铭胡伟
Owner PEKING UNIV
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