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 accurac

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

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

[0088] like figure 1 As shown, the present invention is based on extended Galman filtering pushed posture estimation method, including:

[0089] First, use the heading posture reference system (AHRS) to provide a more accurate posture information to the pan / tilt controller, and the posture information is expressed in the Euler angle, including pitch angle, horizontal roller and yaw angle. The pitch angle is φ, and the angle is rotation angle φ around the Y-axis; the horizontal roller angle is rotation angle θ; the yaw angle is the angle angle ψ around the Z-axis. AHRS provides a navigation coordinate system and a body coordinate system, and the direction cosine matrix (DCM) represents the relationship between two coordinate systems, and includes related attitude information of PTZ. Since the rotating matrix representing the ease is defective, it will produce death. Locki...

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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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