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Horizontal attitude measurement method and system, processing equipment and storage medium
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A technology of horizontal attitude and measurement method, applied in the field of inertia
Pending Publication Date: 2022-03-01
TSINGHUA UNIV +1
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[0003] However, when the complementary filtering method is currently used for fusion, the weight settings for different attitudes only rely on empirical values, or based on the first-order linear relationship of the accelerometer amplitude, which cannot more accurately evaluate the accuracy of the accelerometer's horizontal attitude estimation
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Embodiment 1
[0057] Such as figure 1 As shown, the present embodiment provides a horizontal attitude measurement method, comprising the following steps:
[0058] 1) Place the MIMU on the carrier and obtain the initial zero bias of the MEMS gyroscope.
[0059] Specifically, the MIMU is placed on the carrier, and after power-on, the gyro output data of the MIMU for several seconds (for example, 3 seconds) at initial rest is averaged, and used as the initial zero bias of the MEMS (micro-electromechanical system) gyro.
[0060] 2) Using the quaternion attitude update method, according to the initial attitude of the carrier, the attitude calculation is performed on the gyro output data of the MIMU to obtain the attitude angle of the carrier including roll angle Pitch angle and heading angle
[0061] 3) According to the output data of the accelerometer in the MIMU and the threshold range of the output amplitude of the accelerometer, the static state of the carrier is judged.
[0062] S...
Embodiment 2
[0106] The present embodiment provides a horizontal attitude measurement system, comprising:
[0107] The attitude calculation module is used to calculate the attitude of the gyro output data of the MIMU placed on the carrier according to the initial attitude of the carrier, and obtain the attitude angle of the carrier.
[0108] The noise dynamic observation variance matrix calculation module is used to calculate in real time the horizontal attitude angle of the carrier entering the static state and the noise dynamic observation variance matrix of the carrier according to the output data of the accelerometer in the MIMU.
[0109] The misalignment angle calculation module is used to determine the misalignment angle of the carrier in real time according to the acquired attitude angle and the real-time calculated horizontal attitude angle.
[0110] The gyro zero bias calculation module is used to determine the gyro zero bias of the MIMU according to the dynamic observation varian...
Embodiment 3
[0113] This embodiment provides a processing device corresponding to the horizontal posture measurement method provided in Embodiment 1. The processing device may be a processing device for a client, such as a mobile phone, a notebook computer, a tablet computer, a desktop computer, etc., to execute The method of Example 1.
[0114] The processing device includes a processor, a memory, a communication interface and a bus, and the processor, the memory and the communication interface are connected through the bus to complete mutual communication. A computer program that can be run on the processing device is stored in the memory, and the processing device executes the method for measuring the horizontal attitude provided in Embodiment 1 when running the computer program.
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Abstract
The invention relates to a horizontal attitude measurement method and system, processing equipment and a storage medium, and is characterized in that the method comprises the following steps: placing an MIMU on a carrier, carrying out attitude calculation on gyro output data of the MIMU according to an initial attitude of the carrier, and obtaining an attitude angle of the carrier; judging a static state of the carrier, and calculating a horizontal attitude angle of the carrier entering the static state and a noise dynamic observation variance matrix of the carrier in real time according to output data of an accelerometer in the MIMU; determining a misalignment angle of the carrier in real time according to the obtained attitude angle and the horizontal attitude angle calculated in real time; according to the noise dynamic observation variance matrix and the misalignment angle of the carrier, determining gyroscope zero offset of the MIMU, and obtaining an updated carrier attitude angle; the updated carrier attitude angle and the carrier horizontal attitude angle entering the static state are fused, the carrier horizontal attitude angle is determined, and the method can be widely applied to the technical field of inertia.
Description
technical field [0001] The invention relates to the field of inertial technology, in particular to a horizontal attitude measurement method, system, processing equipment and storage medium. Background technique [0002] MIMU (Micro Inertial Measurement Unit, Micro Inertial Measurement Unit) has become the preferred choice for small drones, unmanned vehicles, micro stable platforms and wearable intelligent devices due to its small size, low power consumption, and low cost. The preferred device for attitude measurement and navigation positioning. At present, the method applied to MIMU attitude measurement is mainly to use the characteristics of the accelerometer in the MIMU that the accuracy and stability are much higher than the level of the gyro device. Considering the static or quasi-stationary state during the motion of the carrier, the method is fused by complementary filtering and other methods. The calculated attitude of the gyroscope and the estimated attitude of the ...
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