An Adaptive Horizontal Attitude Measurement Method Based on Motion State Monitoring

A technology of horizontal attitude and motion state, which is applied in measuring devices, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problems of not considering carrier angle interference, insufficient complex environment, etc., and achieve low impact and high attitude measurement The effect of precision

Active Publication Date: 2022-06-21
HARBIN ENG UNIV
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Problems solved by technology

Most of the traditional adaptive adjustment methods compare the modulus output by the carrier accelerometer with the local gravitational acceleration to realize the judgment of the maneuvering state of the carrier, without considering the interference of the angular motion of the carrier on the acceleration measurement, which may be difficult for some complex environments. is insufficient

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  • An Adaptive Horizontal Attitude Measurement Method Based on Motion State Monitoring
  • An Adaptive Horizontal Attitude Measurement Method Based on Motion State Monitoring
  • An Adaptive Horizontal Attitude Measurement Method Based on Motion State Monitoring

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specific Embodiment approach

[0052] combine figure 1 and figure 2 , the specific embodiment of the present invention comprises the following steps:

[0053] Step 1. Fully preheat the inertial measurement element of the strapdown inertial navigation system;

[0054] Step 2. Collect the data of the MEMS-IMU in a static state for a period of time, consider the average output value of the MEMS-IMU in this period of time to be the random constant zero bias of the device, and correct the constant zero bias error of the gyroscope and accelerometer Compensation, the specific force f after the compensation constant zero bias error is obtained b and angular velocity ω b ;

[0055] Step 3. Perform initial alignment on the strapdown inertial navigation system to obtain the initial horizontal attitude angle (roll angle) of the carrier system (b system) relative to the navigation coordinate system (n system, the navigation coordinate system in the present invention selects the geographic coordinate system). θ 0 ...

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Abstract

The invention discloses an adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, the horizontal attitude angle is used as a state variable, and the angular velocity increment Δω of random constant value zero offset is compensated. b As the control input of the system equations, the specific force f to compensate for the random constant zero bias b As a quantity measurement, at the same time, the judgment conditions of the carrier maneuvering state are improved, and the acceleration information and angular velocity information output by the MEMS-IMU are comprehensively used to judge the carrier maneuvering information, and the automatic adjustment of the filter measurement noise array is realized, which effectively reduces the The effect of vehicle maneuvers on the horizontal attitude solution. This method has no special requirements on the maneuvering state of the carrier, and can ensure that the system has a high attitude measurement accuracy in different motion states without the assistance of external information.

Description

technical field [0001] The invention relates to an adaptive horizontal attitude measurement method based on motion state monitoring, and belongs to the field of inertial technology. Background technique [0002] With the development of MEMS technology, low-cost MEMS-IMU has more and more applications in the field of navigation. By using inertial sensors based on MEMS to measure motion parameters, the complex motion states of ships in the sea can be detected, and the realization of The user collects the motion data of the surface ship, which requires the MEMS-IMU to be able to accurately output the angular motion parameters and linear motion parameters of the carrier in real time. [0003] The MEMS gyroscope has the characteristics of random drift, and its integral error accumulates with time. The accelerometer has no accumulated error, but it is easily affected by the vibration of the carrier. The commonly used algorithms to fuse the two data are Kalman filtering and comple...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16G01C21/18G01C25/00G01C21/20G01C21/34
CPCG01C21/16G01C21/18G01C25/005G01C21/203G01C21/343
Inventor 赵玉新李帅阳奔粤阳吴磊李倩周广涛臧新乐魏廷枭王健成周一帆
Owner HARBIN ENG UNIV
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