MEMS IMU initial alignment method based on nonlinear optimization magnetic heading

By optimizing magnetic heading based on nonlinear magnetic heading, the problem of insufficient initial alignment accuracy of MEMS IMU in the prior art is solved, and the initial alignment with higher accuracy is achieved, which enhances the reliability and versatility of the method.

CN119687956AActive Publication Date: 2025-03-25BEIHANG UNIV
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Patent Information

Application Number
CN202411746665.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-02
Publication Date
2025-03-25
Estimated Expiration
2044-12-02

AI Technical Summary

Technical Problem

The existing magnetometer-based initial alignment method has insufficient alignment accuracy, resulting in large errors in the initial alignment process of low-precision MEMS IMU.

Method used

The MEMS IMU initial alignment method based on nonlinear optimization of magnetic heading is adopted to calculate the real magnetic vector and magnetic declination angle through the world geomagnetic model, a nonlinear optimization of magnetic heading model is constructed, and the optimization model is iteratively solved to achieve accurate initial alignment.

Benefits of technology

It improves the accuracy of initial alignment of MEMS IMU, reduces errors, enhances the reliability and versatility of the method, and improves the operating efficiency of the algorithm.

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Abstract

The invention discloses an MEMS IMU initial alignment method based on a nonlinear optimization magnetic heading. The method comprises the following steps: S1, determining a real magnetic vector and a magnetic declination of a current position through a world geomagnetic model; s2, an initial magnetic heading, a pitch angle and a roll angle are obtained through MEMS IMU calculation; s3, constructing a nonlinear optimization magnetic heading model; s4, resolving the non-linear optimization magnetic heading model to obtain an optimal rotation matrix obtained by incremental calculation based on the optimal rotation matrix, and converting to obtain an optimal initial alignment heading angle psi best; the initial alignment method solves the problem that an existing MEMS IMU initial alignment method based on a magnetometer is insufficient in alignment precision, and is high in reliability, high in universality, high in algorithm operation efficiency, easy to operate, high in precision and good in practicability.
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