A method, device and electronic equipment for measuring relative changes in attitude based on MEMS

Abstract

The application provides a method and device for measuring relative changes in attitude based on MEMS, electronic equipment and a recording medium, the method comprising: obtaining original data, pre-filtering the original data; estimating an initial value of zero offset of the MEMS gyroscope according to the working environment of the carrier; measuring an initial value of attitude by using the output of the accelerometer according to the original data after the pre-filtering; decomposing the output of the gyroscope into a horizontal plane and a vertical direction by using the measured attitude, calculating a real-time azimuth angle of the MEMS; compensating the real-time azimuth angle of the MEMS with the sky component of the earth rotation angular velocity in each calculation period according to the latitude L of the carrier; judging the motion state of the MEMS, updating the measured attitude in real time when the motion state is dynamic, and not updating the measured attitude when the motion state is static; and when the MEMS is judged to be static, performing average operation on the gyroscope data in a period of time, and compensating the average operation to the MEMS gyroscope as zero offset.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of real-time azimuth measurement equipment, and particularly relates to a method and device for measuring relative attitude change based on MEMS and electronic equipment. BACKGROUND

[0002] With gradual improvement of the performance of MEMS, the MEMS gradually extends from measuring only angular velocity and acceleration information to measuring angular change and velocity change, and thus is widely applied to some handheld devices or light weapons, such as guns and mortars for tracking moving targets.

[0003] Weapons such as mortars generally have a large impact, and other mechanical gyroscopes and optical gyroscopes are difficult to adapt to their use environment, and thus the MEMS sensor is often used. The mortar can generally obtain a relatively accurate initial value when starting, and there is a large angular motion subsequently, and it is required to maintain the azimuth initial value within the motion time, and the working time is generally not more than 2 min. Although the working time is relatively short, the initial zero offset of the MEMS gyroscope is generally large, which can reach 0.03° / s-0.05° / s, and if the working time is continuously 2 min, the azimuth drift will reach 3.6°-6°, which is difficult to use. The zero offset of the MEMS working process will change, and the maximum change of the zero offset can reach 0.1° / s within the 2 min working process. In order to realize high-precision accurate attack, it is required to research the MEMS working method according to the working characteristics of the mortar and the working characteristics of the MEMS. SUMMARY

[0004] (I) Technical problem to be solved

[0005] The present application at least aims to solve the problem that the existing measurement equipment cannot accurately measure the real-time azimuth according to the working characteristics of the mortar.

[0006] (II) Technical scheme

[0007] In order to solve the above technical problem, one aspect of the present application proposes a method for measuring relative attitude change based on MEMS, which comprises the following steps:

[0008] Obtaining original data, and performing pre-filtering processing on the original data;

[0009] Estimating the initial value of the zero offset of the MEMS gyroscope according to the working environment of the carrier;

[0010] Measuring the initial attitude value by using the output of the accelerometer according to the original data after the pre-filtering processing;

[0011] Decomposing the gyroscope output into the horizontal plane and the vertical direction by using the measured attitude, and calculating the real-time azimuth angle of the MEMS;

[0012] According to the latitude position L of the carrier, the sky direction component of the earth rotation angular velocity is compensated for the MEMS real-time azimuth angle in each calculation period;

[0013] The motion state of the MEMS is judged, when in dynamic state, the real-time update of the attitude is measured, when in static state, the attitude is not measured;

[0014] When the MEMS is judged as static, the gyro data in a period of time is averaged and compensated to the MEMS gyro as zero offset.

[0015] In an exemplary embodiment of the present application, the original data includes the accelerometer X axis acceleration a x , the accelerometer Y axis acceleration a y , the accelerometer Z axis acceleration a z , the gyro X axis angular velocity g x , the gyro Y axis angular velocity g y , and the gyro Z axis angular velocity g z .

[0016] In an exemplary embodiment of the present application, the estimated initial value of the MEMS gyro zero offset is specifically:

[0017] When the carrier is in static state, the average value of the earth rotation angular velocity in 2 seconds is collected as the initial value of the MEMS gyro zero offset.

[0018] In an exemplary embodiment of the present application, according to the original data after the pre-filtering processing, the initial value of the measured attitude is specifically calculated by using the accelerometer output, which includes:

[0019] The pitch angle

[0020] The roll angle

[0021] The azimuth angle initial value is set to θ z =0.

[0022] In an exemplary embodiment of the present application, the gyro output is decomposed into horizontal and vertical directions by using the measured attitude, and the real-time azimuth angle of the MEMS is specifically calculated as:

[0023] The vertical direction angular velocity is w U =w x sinθ y +w y cosθ y sinθ x +w z cosθ x cosθ y .

[0024] Integrating the vertical direction angular velocity at each time, the MEMS real-time azimuth angle

[0025] In an exemplary embodiment of the present application, according to the latitude position L of the carrier, the celestial direction component of the earth rotation angular velocity is compensated for the MEMS real-time azimuth angle at each calculation period, specifically as follows:

[0026] Calculate the celestial direction component w ieU ie *sin(L) of the earth rotation angular velocity

[0027] Compensate for the MEMS real-time azimuth angle at each calculation period,

[0028] In an exemplary embodiment of the present application, judging the motion state of the MEMS is specifically as follows:

[0029] Calculate the gyro real-time angular rate

[0030] Store the gyro angular rate w a in one second

[0031] When w g <w s and max(w a )-min(w a )<w b , it is regarded as static, otherwise it is regarded as motion, wherein w s and w b are respectively the current angular velocity static judgment threshold and the angular velocity fluctuation threshold in 1s.

[0032] The second aspect of the present application proposes a device for measuring relative changes in attitude based on MEMS, comprising:

[0033] A pre-filtering processing module is configured to acquire original data and perform pre-filtering processing on the original data.

[0034] A gyro zero offset initial value estimation module is configured to estimate the MEMS gyro zero offset initial value according to the working environment of the carrier.

[0035] An attitude initial value calculation module is configured to measure the attitude initial value using the accelerometer output according to the pre-filtered original data.

[0036] An azimuth angle calculation module is configured to decompose the gyro output into the horizontal plane and the vertical direction using the measured attitude, and calculate the MEMS real-time azimuth angle.

[0037] ​An azimuth angle compensation module is configured to compensate a MEMS real-time azimuth angle by a celestial direction component of an earth rotation angular velocity according to a latitude position L of the carrier in each calculation period;

[0038] A state judgment module is configured to judge a motion state of the MEMS, and when the motion state is dynamic, the attitude is measured and updated in real time, and when the motion state is static, the attitude is not measured and updated;

[0039] A gyro zero offset compensation module is configured to perform an average operation on gyro data in a period of time when the MEMS is judged as static, and compensate the MEMS gyro as a zero offset.

[0040] The third aspect of the present application provides an electronic device, comprising:

[0041] One or more processors;

[0042] A storage device configured to store one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the method.

[0044] The fourth aspect of the present application provides a computer readable medium, which stores a computer program, and the program is executed by a processor to implement the method.

[0045] (III) Beneficial Effects

[0046] According to the technical scheme of the present application, the real-time azimuth of the mortar is measured by the calibrated and compensated MEMS according to the intermittent working characteristics of the mortar, and through the above technical scheme, a high-precision attitude measurement system based on MEMS can be realized, the performance requirements and calibration compensation requirements of the inertial device are reduced, and the accurate attack of the mortar is realized. BRIEF DESCRIPTION OF DRAWINGS

[0047] Figure 1 is a method flow diagram of measuring attitude relative change based on MEMS in an embodiment of the present application;

[0048] Figure 2 is a device structure diagram of measuring attitude relative change based on MEMS in an embodiment of the present application;

[0049] Figure 3 is a structure diagram of an electronic device in an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of a computer readable recording medium in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In the introduction of specific embodiments, the detailed description of the structure, performance, effect or other characteristics is for the purpose of enabling a full understanding of the embodiments by those skilled in the art. However, it does not exclude that those skilled in the art can implement the technical solutions of the present application without the above-mentioned structure, performance, effect or other characteristics in specific cases.

[0052] The flowchart in the drawing is only an exemplary flow demonstration, and does not represent that all the contents, operations and steps in the flowchart must be included in the scheme of the present application, nor does it represent that the execution must be performed according to the order shown in the drawing. For example, some operations / steps in the flowchart can be decomposed, some operations / steps can be combined or partially combined, etc. Without departing from the inventive concept of the present application, the execution order shown in the flowchart can be changed according to the actual situation.

[0053] The blocks in the drawing Figure 1 Generally represent functional entities, which do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different network and / or processing unit devices and / or microcontroller devices.

[0054] The same reference signs in the various drawings represent the same or similar elements, components or parts, so that the repeated description of the same or similar elements, components or parts can be omitted hereinafter. It should also be understood that although the first, second, third, etc. represent the numbered adjectives are used herein to describe various devices, elements, components or parts, these devices, elements, components or parts should not be limited by these adjectives. That is, these adjectives are only used to distinguish one from another. For example, the first device can also be referred to as the second device without departing from the essential technical solutions of the present application. In addition, the terms "and / or", "and / or" mean all combinations of one or more of the listed items.

[0055] The present application proposes a method and device for measuring relative changes in attitude based on MEMS, which can realize a high-precision attitude measurement system based on MEMS, reduce the performance requirements and calibration compensation requirements of inertial devices, and realize accurate attack of mortars.

[0056] Figure 1 A flowchart of a method for measuring relative changes in attitude based on MEMS is shown in Figure 2 The method comprises the following steps:

[0057] S101, obtaining original data, and performing pre-filtering processing on the original data.

[0058] On the basis of the above technical solutions, further, the original data comprises the X-axis acceleration ax , accelerometer Y-axis acceleration a y , accelerometer Z-axis acceleration a z , gyroscope X-axis angular velocity g x , gyroscope Y-axis angular velocity g y , gyroscope Z-axis angular velocity g z .

[0059] In the embodiment, a low-pass filter is used for pre-filtering. The noise of MEMS gyroscopes and accelerometers is generally large, and high-frequency sampling is generally performed to provide a data basis for subsequent filtering calculations. Pre-filtering is performed before measuring changes in attitude and orientation. The filter cutoff frequency is set according to the intermittent working characteristics of the mortar and the dynamic characteristics during firing. In the embodiment, the sampling frequency is designed to be 1000 Hz, and the low-pass filter parameters are matched according to the actual working environment. The original data of the gyroscope and the accelerometer are all filtered through the low-pass filter.

[0060] S102, estimate the initial value of the zero offset of the MEMS gyroscope according to the working environment of the carrier.

[0061] On the basis of the above technical solutions, further, the initial value of the zero offset of the MEMS gyroscope is estimated as follows:

[0062] When the carrier is in a static state, the average value of the earth rotation angular velocity collected for 2 seconds is taken as the initial value of the zero offset of the MEMS gyroscope.

[0063] In the embodiment, the carrier is a mortar, and the start-up characteristics of the MEMS gyroscope are significant. The zero offset is large for each start-up, and needs to be compensated. When the mortar starts, it generally has static working conditions or quasi-static working conditions. According to the working conditions, the initial value of the zero offset of the MEMS gyroscope is estimated using the allowed start-up time and the actual working environment. In the embodiment, the MEMS precision cannot be sensitive to the earth rotation angular velocity. According to the static characteristics of the mortar during start-up, the average value of the static data collected for 2 seconds is taken as the zero offset of the MEMS gyroscope.

[0064] S103, measure the initial value of the attitude using the output of the accelerometer according to the original data after the pre-filtering.

[0065] On the basis of the above technical solutions, further, measuring the initial value of the attitude using the output of the accelerometer according to the original data after the pre-filtering specifically includes:

[0066] pitch angle

[0067] roll angle

[0068] the initial value of the azimuth angle is set to θ z = 0.

[0069] In the embodiment, since the mortar measures the relative change of the attitude, the azimuth initial value is set as θ z = 0.

[0070] S104, decompose the gyro output to the horizontal plane and the vertical direction with the measured attitude, and calculate the MEMS real-time azimuth.

[0071] On the basis of the above technical solutions, further, the measured attitude is used to decompose the gyro output to the horizontal plane and the vertical direction, and the calculation of the MEMS real-time azimuth is specifically:

[0072] The vertical direction angular velocity is: w U = w x sinθ y + w y cosθ y sinθ x + w z cosθ x cosθ y ; the vertical direction angular velocity is integrated at each time, and the MEMS real-time azimuth

[0073] S105, according to the latitude position L of the carrier, the celestial direction component of the earth rotation angular velocity is compensated for the MEMS real-time azimuth at each calculation period.

[0074] On the basis of the above technical solutions, further, according to the latitude position L of the carrier, the celestial direction component of the earth rotation angular velocity is compensated for the MEMS real-time azimuth at each calculation period. Specifically:

[0075] The celestial direction component w ieU = w ie *sin(L) of the earth rotation angular velocity is calculated.

[0076] The MEMS real-time azimuth is compensated for at each calculation period,

[0077] S106, judge the motion state of the MEMS, when in dynamic state, the measured attitude is updated in real time, and when in static state, the measured attitude is not updated.

[0078] On the basis of the above technical solutions, further, the judgment of the motion state of the MEMS is specifically:

[0079] The gyro real-time angular rate is calculated

[0080] The gyro angular rate w a in one second is stored.

[0081] When w g <w s and max(w a )-min(w a )<w b , it is regarded as static, otherwise, it is regarded as motion, wherein, w s and w b are current angular velocity static judgment threshold and angular velocity fluctuation threshold within 1s respectively.

[0082] In the embodiment, the mortar is generally in the state of alternating between motion and static when working. The state in which the MEMS currently is can be judged through the gyro output. When in the dynamic state, the attitude is updated in real time, and the implemented attitude is output. When in the static state, the attitude is not updated, the real-time zero bias of the gyro is estimated, compensation is performed, and the compensated attitude is output.

[0083] According to the stability of the gyro and the actual condition of the mortar in the static state, the motion condition judgment threshold of the mortar is set. When exceeding a certain threshold, it is regarded as the motion state, and when being less than the threshold, it is regarded as the static state.

[0084] Meanwhile, in order to reduce the probability of misjudgment, the gyro angular rate fluctuation rate index is increased. When the difference between the maximum value and the minimum value of the gyro angular rate in a period of time meets a certain condition, even if the threshold is small at this time, it is also regarded as dynamic.

[0085] S107, when the MEMS is judged as static, the gyro data in a period of time is averaged and compensated to the MEMS gyro as zero bias.

[0086] In the embodiment, when the MEMS is judged as static, the gyro data in a period of time is averaged and compensated to the MEMS gyro as zero bias, which can follow the changes of the gyro with time, temperature and environment, and realize higher use precision, that is, repeat step S102, and in turn, realize the real-time attitude measurement of the mortar.

[0087] Figure 3 is a device structure schematic diagram for measuring relative changes in attitude based on MEMS in an embodiment of the application, comprising:

[0088] A pre-filtering processing module 201 is configured to acquire original data and perform pre-filtering processing on the original data.

[0089] On the basis of the above technical solution, further, the original data comprises an accelerometer X-axis acceleration a x , an accelerometer Y-axis acceleration a y , an accelerometer Z-axis acceleration a z , a gyro X-axis angular velocity g x , a gyro Y-axis angular velocity g yGyroscope Z-axis angular velocity g z .

[0090] In the embodiment, a low-pass filter is used for pre-filtering. The noise of MEMS gyroscopes and accelerometers is generally large, and high-frequency sampling is generally performed to provide a data basis for subsequent filtering calculation. Pre-filtering is performed before measuring the attitude and azimuth change. The filter cutoff frequency is set according to the intermittent working characteristics of the mortar and the dynamic characteristics during firing. In the embodiment, the sampling frequency is designed to be 1000 Hz, and the low-pass filter parameters are matched according to the actual working environment. The original data of the gyroscope and the accelerometer are filtered through the low-pass filter.

[0091] The gyroscope zero bias initial value estimation module 202 is configured to estimate the MEMS gyroscope zero bias initial value according to the working environment of the vehicle.

[0092] On the basis of the above technical solution, further, the estimation of the MEMS gyroscope zero bias initial value is specifically:

[0093] When the vehicle is in a static state, the average value of the earth rotation angular velocity collected for 2 seconds is taken as the MEMS gyroscope zero bias initial value.

[0094] In the embodiment, the vehicle is a mortar, and the MEMS gyroscope startup characteristics are significant, and the subsequent startup zero bias is large, which needs to be compensated. When the mortar is started, it generally has static working conditions or quasi-static working conditions. According to the working conditions, the allowed startup time and the actual working environment are used to estimate the MEMS gyroscope zero bias initial value. In the embodiment, the MEMS precision cannot be sensitive to the earth rotation angular velocity, and according to the static characteristics of the mortar during startup, the average value of the static data collected for 2 seconds is taken as the MEMS gyroscope zero bias.

[0095] The attitude initial value calculation module 203 is configured to measure the attitude initial value using the accelerometer output according to the pre-filtered original data.

[0096] On the basis of the above technical solution, further, the measurement of the attitude initial value using the accelerometer output according to the pre-filtered original data specifically includes:

[0097] Pitch angle

[0098] Roll angle

[0099] Azimuth angle initial value is set to θ z = 0.

[0100] In the embodiment, since the mortar measures the relative change of the attitude, the azimuth angle initial value is set to θ z = 0.

[0101] The azimuth angle calculation module 204 is configured to calculate the MEMS real-time azimuth angle by decomposing the gyro output into the horizontal plane and the vertical direction using the measurement attitude.

[0102] On the basis of the above technical solution, further, the calculation of the MEMS real-time azimuth angle by decomposing the gyro output into the horizontal plane and the vertical direction using the measurement attitude is specifically as follows:

[0103] The vertical direction angular velocity is w U = w x sinθ y + w y cosθ y sinθ x + w z cosθ x cosθ y .

[0104] The MEMS real-time azimuth angle is obtained by integrating the vertical direction angular velocity at each time.

[0105] The azimuth angle compensation module 205 is configured to compensate the MEMS real-time azimuth angle by the celestial direction component of the earth rotation angular velocity at each calculation period according to the latitude position L of the carrier.

[0106] On the basis of the above technical solution, further, the compensation of the MEMS real-time azimuth angle by the celestial direction component of the earth rotation angular velocity at each calculation period according to the latitude position L of the carrier is specifically as follows:

[0107] The celestial direction component of the earth rotation angular velocity w ieU = w ie *sin(L).

[0108] The MEMS real-time azimuth angle is compensated at each calculation period.

[0109] The state judgment module 206 is configured to judge the motion state of the MEMS, and the measurement attitude is updated in real time when the motion state is dynamic, and the measurement attitude is not updated when the motion state is static.

[0110] On the basis of the above technical solution, further, the judgment of the motion state of the MEMS is specifically as follows:

[0111] The gyro real-time angular rate is calculated.

[0112] The gyro angular rate w a in one second is stored.

[0113] When w g ​s and max(w a )-min(w a )<w b is regarded as static, otherwise as dynamic.

[0114] In the embodiment, the mortar is generally in the state of alternating between motion and static when working. The current state of the MEMS can be determined by the gyro output. When in dynamic state, the attitude is updated in real time and the implemented attitude is output. When in static state, the attitude is not updated, the real-time zero offset of the gyro is estimated and compensated, and the compensated attitude is output.

[0115] According to the stability of the gyro and the actual conditions of the mortar in static state, the motion condition determination threshold of the mortar is set. When exceeding a certain threshold, it is regarded as a motion state, and when less than the threshold, it is regarded as a static state.

[0116] At the same time, in order to reduce the probability of misjudgment, the angular rate fluctuation rate of the gyro is increased. When the difference between the maximum and minimum values of the angular rate of the gyro in a period of time meets certain conditions, even if the threshold is small at this time, it is also regarded as dynamic.

[0117] The gyro zero offset compensation module 207 is used for averaging the gyro data in a period of time when the MEMS is determined to be static, and compensating the MEMS gyro with the average value as the zero offset.

[0118] In the embodiment, when the MEMS is determined to be static, the gyro data in a period of time is averaged and compensated to the MEMS gyro output as the zero offset market. The gyro can follow the changes of time, temperature and environment, and higher usability can be achieved.

[0119] Figure 3 is a block diagram of an electronic device according to an example embodiment.

[0120] As shown in Figure 3 , the electronic device is in the form of a general computing device. The processor can be one or multiple and work cooperatively. The present application also does not exclude distributed processing, i.e. the processor can be dispersed in different physical devices. The electronic device of the present application is not limited to a single entity, but can also be the sum of multiple physical devices.

[0121] The memory stores computer executable programs, usually machine readable codes. The computer readable programs can be executed by the processor to enable the electronic device to perform the method of the present application, or at least part of the steps in the method.

[0122] The memory includes volatile memory, such as random access memory (RAM) and / or cache memory, and can also be non-volatile memory, such as read only memory (ROM).

[0123] Optionally, the electronic device further comprises an I / O interface for data exchange between the electronic device and external devices. The I / O interface can be one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of a variety of bus structures.

[0124] It should be understood that Figure 4 The electronic device shown is only an example of the present application, and the electronic device of the present application can also include elements or components not shown in the above examples. For example, some electronic devices also include a display unit such as a display screen, and some electronic devices also include human-computer interaction elements such as buttons and keyboards. As long as the electronic device can execute the computer-readable program in the memory to implement the method or at least part of the steps of the method of the present application, it can be considered as an electronic device covered by the present application.

[0125] From the above description of the embodiments, those skilled in the art will readily understand that the example embodiments described herein can be implemented by software or by software in combination with necessary hardware. Therefore, as ​ shown, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.) or on a network, and includes a number of instructions to make a computing device (which can be a personal computer, a server, or a network device, etc.) execute the above-mentioned method according to the embodiments of the present application.

[0126] The software product can use any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium may, for example, be but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0127] The computer readable storage medium can include a data signal transported over a carrier wave and can be baseband or propagated along with carriers. The program code embodied on the computer readable storage medium can be transmitted using any appropriate medium, including but not limited to wireless, wired, optical fiber cable, RF, and the like, or any suitable combination of the foregoing.

[0128] The program code can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++, or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computing device, partly on the user's computing device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device or entirely on the remote computing device or server. In the latter scenario, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computing device, such as through the Internet using an Internet Service Provider.

[0129] The computer readable medium described above can carry one or more programs, when the one or more programs are executed by the device, the computer readable medium can realize the following functions: starting a virtual interaction function based on a starting instruction of a user; obtaining real-time video of the user based on the virtual interaction function; inputting the real-time video into a motion recognition model to generate a motion recognition label, the motion recognition model is realized by a deep learning model; generating a virtual object according to the motion recognition label; and rendering the target virtual object in the real-time video of the user for display.

[0130] Those skilled in the art can understand that the above-mentioned modules can be distributed in the device according to the description of the embodiment, and can also be changed in one or more devices different from the embodiment. The modules of the above-mentioned embodiment can be combined into one module, or can be further split into multiple sub-modules.

[0131] Those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solutions according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash disk, a mobile hard disk, or the like) or a network, and includes a number of instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to perform the methods according to the embodiments of the present application.

[0132] The example embodiments of the present application are specifically shown and described above. It should be understood that the present application is not limited to the detailed structure, arrangement or implementation method described herein; on the contrary, the present application is intended to cover various modifications and equivalent arrangements included in the spirit and scope of the appended claims.

Claims

1. A method of measuring attitude relative changes based on MEMS, characterized in that, The method comprises the following steps: Pre-filtering the acquired original data according to the intermittent working characteristics and dynamic characteristics of the carrier at the time of launching; Raw data includes: accelerometer X axis acceleration a x , accelerometer Y axis acceleration a y , accelerometer Z axis acceleration a z , gyro X axis angular velocity g x , gyro Y axis angular velocity g y , gyro Z axis angular velocity g z ; Estimating the initial value of the zero bias of the MEMS gyroscope according to the static working condition or quasi-static working condition possessed by the carrier at the time of starting, using the allowed starting time and the actual working environment; Measuring the initial value of the attitude using the output of the accelerometer according to the pre-filtered original data; Decomposing the output of the gyroscope into the horizontal plane and the vertical direction using the measured attitude initial value, and calculating the real-time azimuth angle of the MEMS gyroscope; Compensating the real-time azimuth angle of the MEMS gyroscope with the celestial component of the earth's rotation angular velocity at each calculation period according to the latitude L of the carrier; Calculating the real-time angular rate of the MEMS gyroscope and outputting, judging the motion state of the MEMS gyroscope according to the stability of the MEMS gyroscope and the motion condition threshold set according to the actual condition of the carrier in static state, including: exceeding the threshold is the motion state, less than the threshold and the difference between the maximum value and the minimum value of the MEMS gyroscope angular rate in a period of time meeting the predetermined condition is the motion state, less than the threshold is the static state, the measured attitude is updated in real time when it is in dynamic state, and the measured attitude is not updated when it is in static state; When the motion state of the MEMS gyroscope is judged to be static, the MEMS gyroscope data in a period of time is also averaged and compensated to the MEMS gyroscope as the zero bias, and the initial value of the zero bias of the MEMS gyroscope is repeatedly estimated, and the real-time attitude measurement of the carrier is carried out in turn.

2. The method of claim 1, wherein the MEMS-based measurement of the relative change in attitude is based on a plurality of MEMS sensors. The specific steps of estimating the initial value of the zero bias of the MEMS gyroscope are as follows: When the carrier is in static state, the average value of the earth's rotation angular velocity in 2 seconds is collected as the initial value of the zero bias of the MEMS gyroscope.

3. The method of measuring relative changes in attitude based on MEMS according to any of claims 1-2, characterized in that, The specific steps of measuring the initial value of the attitude using the output of the accelerometer according to the pre-filtered original data are as follows: The azimuth initial value is set to θ z = 0.

4. The method of claim 3, wherein the MEMS-based measurement of the relative change in attitude is based on a plurality of MEMS sensors. The specific steps of decomposing the output of the gyroscope into the horizontal plane and the vertical direction using the measured attitude initial value and calculating the real-time azimuth angle of the MEMS are as follows: The vertical direction angular velocity is: w U = w x sin θ y + w y cos θ y sin θ x + w z cos θ x cos θ y ; The vertical direction angular velocity is integrated at each time, and the MEMS real-time azimuth angle is obtained 5. The method of claim 4, wherein the MEMS-based measurement of the relative change in attitude is based on a plurality of MEMS sensors. The specific steps of compensating the real-time azimuth angle of the MEMS with the celestial component of the earth's rotation angular velocity at each calculation period according to the latitude L of the carrier are as follows: Computing the skyward component w of the angular velocity of the Earth ieU = w ie *sin(L); Compensate the real-time azimuth angle of MEMS in each resolving period, 6. The method of claim 4, wherein the MEMS-based measurement of the relative change in attitude is based on a plurality of MEMS sensors. The specific steps of judging the motion state of the MEMS through the output of the gyroscope are as follows: Computing gyro real-time angular rate storing the gyro angular rate w over one second a ; When w g <w s and max(w a )-min(w a )<w b , it is considered as static, otherwise as motion, where w s and w b are the current angular velocity static judgment threshold and the angular velocity fluctuation threshold within 1s, respectively.

7. The method of claim 5, wherein the MEMS-based measurement of the relative change in attitude is based on a plurality of MEMS sensors. The specific steps of judging the motion state of the MEMS through the output of the gyroscope are as follows: Computing gyro real-time angular rate storing the gyro angular rate w over one second a ; When w g <w s and max(w a )-min(w a )<w b , it is considered as static, otherwise as motion, where w s and w b are the current angular velocity static judgment threshold and the angular velocity fluctuation threshold within 1s, respectively.

8. An apparatus for measuring relative changes in attitude based on MEMS, characterized in that, The device comprises: A pre-filtering module for pre-filtering the acquired original data according to the intermittent working characteristics and dynamic characteristics of the carrier at the time of launching; Raw data includes: accelerometer X axis acceleration a x , accelerometer Y axis acceleration a y , accelerometer Z axis acceleration a z , gyro X axis angular velocity g x , gyro Y axis angular velocity g y , gyro Z axis angular velocity g z ; A gyroscope zero bias initial value estimation module for estimating the initial value of the zero bias of the MEMS gyroscope according to the static working condition or quasi-static working condition possessed by the carrier at the time of starting, using the allowed starting time and the actual working environment; An attitude initial value calculation module for measuring the initial value of the attitude using the output of the accelerometer according to the pre-filtered original data; An azimuth angle calculation module for decomposing the output of the gyroscope into the horizontal plane and the vertical direction using the measured attitude initial value, and calculating the real-time azimuth angle of the MEMS gyroscope; An azimuth angle compensation module for compensating the real-time azimuth angle of the MEMS gyroscope with the celestial component of the earth's rotation angular velocity at each calculation period according to the latitude L of the carrier; A state judging module is configured to calculate and output real-time angular velocity of the MEMS gyroscope, judge the motion state of the MEMS gyroscope according to the stability of the MEMS gyroscope and the motion condition judging threshold set according to the actual condition of the static carrier, wherein the motion state includes: exceeding the threshold is the motion state, being less than the threshold and the difference between the maximum value and the minimum value of the MEMS gyroscope angular velocity in a period of time satisfying a predetermined condition is the motion state, being less than the threshold is the static state, the attitude is measured in real time when in the dynamic state, and the attitude is not updated when in the static state; A gyroscope zero offset compensation module is configured to, when the MEMS gyroscope is judged as the static state, perform average operation on the MEMS gyroscope data in a period of time, compensate the MEMS gyroscope as the zero offset, and repeatedly estimate the initial value of the MEMS gyroscope zero offset, and in turn, perform real-time attitude measurement of the carrier.

9. An electronic device, comprising: The method comprises: one or more processors; a storage device configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1-7.

10. A computer readable medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method as claimed in any one of claims 1-7.

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