Method for improving dynamic gesture accuracy of inertia-geomagnetic combination

A geomagnetic and inertial technology, applied in the field of sensors, can solve the problems of inertial-geomagnetic combined attitude calculation accuracy drop, carrier linear acceleration interference, etc.

CN109029435AActive Publication Date: 2018-12-18CHANGZHOU UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2018-12-18

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Abstract

The invention provides a method for improving dynamic gesture accuracy of inertia-geomagnetic combination. The method comprises the steps of firstly, extracting appropriate characteristic from a discrete sampling time sequence output from a three-dimensional accelerometer by an artificial neural network with regard to complicated three-dimensional motion such as human body movement; secondly, accurately estimating amplitude of carrier linear acceleration according to the characteristic by the artificial neural network; and finally, adjusting and expanding observation and process covariance ofa kalman algorithm in real time according to an estimation result, and further preventing the influence of the carrier linear acceleration on the algorithm so that the gesture resolution accuracy of the inertia-geomagnetic combination is improved.
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Description

technical field

[0001] The invention relates to the technical field of sensors, in particular to a method for improving the inertia-geomagnetism combination dynamic attitude determination accuracy by using an artificial neuron network. Background technique

[0002] The inertial-geomagnetic combination is a combination of sensors. Its hardware is mainly composed of a three-axis accelerometer, a three-axis gyroscope, a three-axis geomagnetic sensor, and some necessary signal processing units. Among them, the signal processing unit includes a preamplifier, a band-pass filter Devices, analog-to-digital converters, central processing units, power supply circuits, communication circuits, etc., are mainly used to realize the subsequent processing and transmission of sensor signals. The combined software program is run by the central processing unit, mainly including necessary processor initialization program, sensor data acquisition program, sensor error correction program, attitud...

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Embodiment Construction

[0066] The present invention will be described in detail in conjunction with accompanying drawing now. This figure is a simplified schematic diagram only illustrating the basic structure of the present invention in a schematic manner, so it only shows the components relevant to the present invention.

[0067] Such as figure 1 As shown, the method for improving the inertial-geomagnetic combination dynamic attitude determination accuracy based on the artificial neuron network proposed by the present invention for suppressing the influence of the linear acceleration of the carrier, the basic idea of ​​the method is to use the artificial neuron network as the output and extension of the accelerometer The bridge between the process noise of the Kalman algorithm and the covariance of the observation noise, in order to adjust the latter adaptively through the former, so as to achieve the purpose of suppressing the carrier linear acceleration interference. Among them, the three-axis a...