All-attitude IMU attitude calculation method capable of reducing noise

Abstract

The invention relates to an all-attitude IMU (Inertial Measurement Unit) attitude resolving method capable of reducing noise, which belongs to the field of inertial measurement unit noise reduction methods and is characterized by comprising the following steps of: setting values measured by an X-axis gyroscope, a Y-axis gyroscope and a Z-axis gyroscope as GyroX, GyroY and GyroZ respectively; the azimuth angle Yaw can be obtained by integrating time through a GyroX value, a GyroY value or a GyroZ value; and the output yaw value can be obtained by weighted average of three yaw values calculated by three axes according to the attitude angle. According to the all-attitude IMU attitude resolving method capable of reducing the noise, the noise is reduced by about 1 / 3 of the original noise, only the operation of averaging the floating-point number is added, the resolving efficiency is not influenced, the noise is reduced, and the precision is improved.

Description

technical field [0001] The invention belongs to the field of inertial measurement unit noise reduction methods, and in particular relates to a noise-reduced full-pose IMU pose calculation method. Background technique [0002] The inertial measurement unit (IMU) is a device for measuring the three-axis attitude angle of an object. It can measure the rotational angular velocity around the three axes and the acceleration component of the three axes. It can be used to measure the attitude of vehicles, ships, robots and other carriers. meter, 3-axis gyroscope and 3-axis magnetic compass. [0003] The quaternion algorithm is generally used when the range of attitude changes is large, which can avoid the "GimbalLock" phenomenon when the pitch angle is close to 90° in the Euler angle attitude calculation method. Although the quaternion algorithm can solve the whole attitude , but when the pitch angle is close to 90°, the linearity of the data calculated by the rotational motion aro...

AI Technical Summary

Problems solved by technology

[0003] The quaternion algorithm is generally used when the range of attitude changes is large, which can avoid the "GimbalLock" phenomenon when the pitch angle is close to 90° in the Euler angle attitude calculation method. Although the quaternion algorithm can solve the whole attitude , but when the pitch angle is close to 90°, the linearity of the data calculated by the rotational motion around the Z axis is poor, which affects the measurement effect

Images