A Method of Attitude Positioning Error Correction Based on Mems Inertial Measurement Unit

An inertial measurement unit and positioning error technology, applied in the field of inertial navigation, can solve problems such as the inability to use external information sources, achieve the effect of improving attitude positioning accuracy and reducing movement attitude positioning errors

CN108507572BActive Publication Date: 2021-06-08TSINGHUA UNIV +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2021-06-08

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Abstract

The invention relates to an attitude positioning error correction method based on a MEMS inertial measurement unit, and relates to an attitude positioning method for a robot curved surface motion. In this method, the MEMS inertial measurement unit is first fixed on the carrier to be tested, and the three-axis angular velocity and three-axis acceleration output by the MEMS inertial measurement unit are collected, and then the carrier is controlled to move on the working plane for 2 to 10 minutes, and then it remains in a static state for 30 to 180 minutes. Seconds, and execute cyclically to estimate and compensate the MEMS inertial measurement unit gyroscope drift in the whole process of motion; use the cosine matrix method to calculate the attitude matrix, and use the three-axis acceleration to update the roll angle and pitch angle in the static state of the carrier to realize the robot attitude position. The method of the present invention can effectively improve the attitude positioning accuracy by adjusting the moving speed of the carrier without increasing any hardware cost and without changing the hardware installation structure, and is especially suitable for robot curved surfaces in indoor and strong magnetic interference and other working environments Applications in motion pose localization.
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Description

technical field

[0001] The invention belongs to the technical field of inertial navigation, and in particular relates to a posture positioning method for robot curved surface movement, which is suitable for mobile robots using MEMS inertial measurement units to perform posture positioning in operating environments such as indoors and strong magnetic interference. Background technique

[0002] MEMS inertial measurement unit combines sensors such as gyroscopes, accelerometers and magnetometers in a multi-axis manner to provide navigation and attitude data in a dynamic environment, and is widely used in mobile robots, drones, spacecraft, etc. The field of measurement and control.

[0003] Inertial navigation is a common attitude measurement method. Attitude information can be calculated by integrating the three-axis motion angular velocity measured by the MEMS inertial measurement unit gyroscope. The MEMS inertial measurement unit gyroscope is composed of micro-mechanical com...

Examples

Embodiment Construction

[0043] The present invention will be described in more detail below in conjunction with the accompanying drawings and embodiments.

[0044] figure 1 A flow chart of a MEMS inertial measurement unit-based attitude positioning error correction method provided by the present invention is illustrated. The method includes the following steps:

[0045] 1) Define γ as the roll angle, θ as the pitch angle, and ψ as the heading angle, and establish a navigation coordinate system fixed on the ground at the initial position of the carrier motion o n -x n the y n z n ;Establish the IMU coordinate system o on the MEMS IMU b -x b the y b z b ; Set the navigation coordinate system o n -x n the y n z n z around itself n Rotate the axis by -ψ angle to get the coordinate system o-x 3 the y 3 z 3 , set the coordinate system o-x 3 the y 3 z 3 around itself x 3 Rotate the axis by θ angle to get the coordinate system o-x 2 the y 2 z 2 , set the coordinate system o-x 2 the y ...