IMU (Inertial Measurement Unit) attitude resolving method based on maximum correlation entropy Kalman filter

A technology of Kalman filter and maximum correlation entropy, applied in the field of attitude calculation of inertial navigation, to achieve the effect of reliable estimation, enhanced robustness, and suppression of outliers

Active Publication Date: 2022-08-05
北京神导科技股份有限公司
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Problems solved by technology

However, it has very limited effects on eliminating non-Gaussian noise and unknown interference during the attitude calculation process.

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  • IMU (Inertial Measurement Unit) attitude resolving method based on maximum correlation entropy Kalman filter
  • IMU (Inertial Measurement Unit) attitude resolving method based on maximum correlation entropy Kalman filter
  • IMU (Inertial Measurement Unit) attitude resolving method based on maximum correlation entropy Kalman filter

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Embodiment Construction

[0057] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings, wherein the accompanying drawings constitute a part of the present application, and together with the embodiments of the present invention, serve to explain the principles of the present invention.

[0058] An embodiment of the present invention discloses an IMU attitude calculation method based on the maximum correlation entropy Kalman filter. figure 1 shown, including:

[0059] Step S1, establish the multi-core correlation entropy of two random variables; the multi-core correlation entropy is based on N sampling including p Correlation entropy of a Gaussian kernel;

[0060] Step S2, establishing a linear system model for IMU attitude calculation;

[0061] Step S3, for the linear system model, establish the maximum correlation entropy Kalman filter under the multi-kernel correlation entropy;

[0062] Step S4, performing attitude calculation ...

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Abstract

The invention relates to an IMU (Inertial Measurement Unit) attitude resolving method based on a maximum correlation entropy Kalman filter, which belongs to the technical field of attitude resolving of inertial navigation, solves the problem of resolving precision, and comprises the following steps of: establishing a multi-kernel correlation entropy of two random variables; the multi-kernel correlation entropy is a correlation entropy which is based on N times of sampling and comprises p Gaussian kernels; establishing a linear system model of IMU attitude calculation; for the linear system model, establishing a maximum correlation entropy Kalman filter under the multi-kernel correlation entropy; and carrying out IMU attitude calculation through Kalman filtering. According to the invention, the precision of attitude calculation is improved.

Description

technical field [0001] The invention belongs to the technical field of attitude calculation of inertial navigation, and in particular relates to an IMU attitude calculation method based on maximum correlation entropy Kalman filter. Background technique [0002] IMU (Inertial Measurement Unit, inertial measurement unit) is widely used in the attitude measurement of the carrier, generally composed of a three-axis gyroscope and a three-axis accelerometer, especially in the field of intelligent machines, the motion tracking and positioning of the carrier mainly rely on the IMU to determine . However, due to the low-cost inertial device will produce drift, poor anti-interference ability, resulting in low accuracy. The usual practice is to design a multi-sensor fusion algorithm, that is, introduce a magnetometer, use the information of the accelerometer and the magnetometer to correct the drift of the gyroscope, and also use the dynamic gyro output to correct the measurement of t...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G06T7/277
CPCG01C21/16G01C21/20G06T7/277
Inventor 付博
Owner 北京神导科技股份有限公司
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