Attitude angle jitter reduction method and device of inertial measurement unit and remote controller

CN119642804AActive Publication Date: 2025-03-18GUANGDONG SENEASY INTELLIGENT TECH CO LTD
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Patent Information

Application Number
CN202411666552.6
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-21
Publication Date
2025-03-18
Estimated Expiration
2044-11-21

AI Technical Summary

Technical Problem

The attitude angle jitter algorithm of the inertial measurement unit in the prior art has problems such as delay and sensitivity to sudden noise, which leads to the attitude angle fluctuation of the inertial measurement unit when it is stationary and has weak dynamic response capabilities.

Method used

The Kalman filtering algorithm is used to obtain the current frame observation angle, angular velocity and angular acceleration, dynamically update the Kalman filter coefficients, calculate the stable angle, stable angular velocity and stable angular acceleration, thereby reducing the jitter of the attitude angle.

Benefits of technology

It effectively reduces the attitude angle fluctuation of the inertial measurement unit when it is stationary, and improves the dynamic response ability during movement, eliminates delays, and improves the stability of the attitude data.

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Abstract

The invention relates to an attitude angle jitter reduction method and device of an inertial measurement unit and a remote controller. The attitude angle jitter reduction method of the inertial measurement unit comprises the following steps: acquiring a current frame observation angle; determining a current frame observation angular velocity and a current frame observation angular acceleration according to the current frame observation angle; updating a Kalman filtering coefficient according to the current frame observation angular velocity; respectively calculating a stable angle, a stable angular velocity and a stable angular acceleration corresponding to the current frame according to the updated Kalman filter coefficient, the predicted angle, the predicted angular velocity and the predicted angular acceleration corresponding to the current frame, and the observation angle, the observation angular velocity and the observation angular acceleration corresponding to the current frame; and according to the updated Kalman filtering coefficient and the stable angle, the stable angular velocity and the stable angular acceleration corresponding to the current frame, respectively calculating a predicted angle, a predicted angular velocity and a predicted angular acceleration corresponding to the next frame. The attitude angle jitter reduction method of the inertial measurement unit can effectively filter attitude angle fluctuation and improve dynamic response capability.
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