Rotary table azimuth attitude estimation method and device based on gyroscope-coded disc

Abstract

The invention discloses a rotary table azimuth attitude estimation method and device based on a gyroscope-coded disc, and belongs to the field of attitude estimation. The method comprises the following steps: aiming at turntable azimuth attitude estimation at each moment, acquiring a turntable azimuth angle speed measurement value fed back by a gyroscope at the current moment and a turntable azimuth angle measurement value fed back by a coded disc so as to construct an azimuth attitude measurement matrix at the current moment; through a Kalman filtering algorithm, fusing measurement values fed back by the gyroscope and the coded disc to obtain a rotary table azimuth attitude estimation value at the current moment; and constructing an adaptive method based on residual errors, and dynamically adjusting a process noise covariance matrix and an observation noise covariance matrix to cope with time-varying noise and model errors. According to the scheme, the advantages of the gyroscope and the coded disc are combined, the dynamic prediction of the gyroscope and the absolute observation of the coded disc are fused through the Kalman filtering algorithm, and the covariance weight is adjusted in real time based on the residual error, so that the uncertainty of system noise is balanced, the accuracy is high, and the real-time performance is good.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude estimation, and particularly to a method and device for estimating the azimuth attitude of a turntable based on a gyroscope - code disk. Background Art

[0002] Relevant departments mainly monitor, track, and obtain evidence of targets through turntable devices installed at key roads. However, the existing turntable devices with a single sensor have poor adaptability to complex environments such as strong winds and heavy rains, resulting in difficulty in quickly and accurately estimating the azimuth attitude of the turntable. For this kind of turntable azimuth attitude estimation, although the code disk has no cumulative error and can provide relatively accurate measurement results stably for a long time, limited by the sampling rate, it has poor high - frequency response, may have noise or delay, and cannot reflect the rapid changes in the turntable azimuth attitude in a timely manner.

[0003] Therefore, there is an urgent need to provide a new method for estimating the azimuth attitude of a turntable. Summary of the Invention

[0004] In order to solve the problem that it is difficult to quickly and accurately estimate the azimuth attitude of a turntable using a single code - disk sensor under complex working conditions, embodiments of the present invention provide a method and device for estimating the azimuth attitude of a turntable based on a gyroscope - code disk.

[0005] On the one hand, a method for estimating the azimuth attitude of a turntable based on a gyroscope - code disk is provided. The method includes: For the estimation of the azimuth attitude of the turntable at each moment, the following operations are performed: Obtain the measured value of the azimuth angular velocity of the turntable feedback by the gyroscope and the measured value of the azimuth angle of the turntable feedback by the code disk at the current moment to construct the azimuth attitude measurement matrix at the current moment; Based on the azimuth attitude measurement matrix at the current moment, the prior estimated value of the azimuth attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, use the Kalman filter algorithm to fuse the measurement values feedback by the gyroscope and the code disk to obtain the estimated value of the azimuth attitude of the turntable at the current moment; where the azimuth attitude includes azimuth angular velocity and azimuth angle; Calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and iteratively perform the estimation of the azimuth attitude of the turntable at the next moment.

[0006] On the other hand, a device for estimating the azimuth attitude of a turntable based on a gyroscope - code disk according to the steps of any method embodiment of the specification is provided. The device includes: An acquisition unit, for each moment of the azimuth attitude estimation of the turntable, is used to perform: acquiring the measured value of the azimuth angular velocity of the turntable fed back by the gyroscope and the measured value of the azimuth angle of the turntable fed back by the code disk at the current moment, so as to construct the azimuth attitude measurement matrix at the current moment; A fusion unit, which is used to fuse the measured values fed back by the gyroscope and the code disk by using the Kalman filtering algorithm based on the azimuth attitude measurement matrix at the current moment, the prior estimated value of the azimuth attitude at the current moment, the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, so as to obtain the estimated value of the azimuth attitude of the turntable at the current moment; wherein, the azimuth attitude includes azimuth angular velocity and azimuth angle; An update unit, which is used to calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and iteratively perform the azimuth attitude estimation of the turntable at the next moment.

[0007] On the other hand, a computer device is provided, which includes a memory and a processor. The memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory to implement the steps of the above method.

[0008] On the other hand, a computer-readable storage medium is provided. The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] On the other hand, a computer program product is provided, which includes a computer program. When the computer program is executed by a processor, the steps of the above method are implemented.

[0010] The technical solution provided by the present invention can at least bring the following beneficial effects: By combining the advantages of two sensors, namely the gyroscope and the code disk, and fusing the dynamic prediction of the gyroscope and the absolute observation of the code disk through the Kalman filtering algorithm, the system can achieve the effect of relying on the gyroscope at high frequency and relying on the code disk at low frequency. At the same time, the covariance weight is adjusted in real time based on the residual to balance the uncertainty of the system noise, which can greatly improve the accuracy and real-time performance of the azimuth attitude estimation of the turntable under complex working conditions. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0012] Figure 1 It is a flowchart of a turntable azimuth attitude estimation method based on gyroscope - code disk provided by an embodiment of the present invention; Figure 2 It is a structural diagram of a turntable azimuth attitude estimation device based on gyroscope - code disk provided by an embodiment of the present invention; Figure 3 It is a hardware architecture diagram of a computer device provided by an embodiment of the present invention. Specific embodiments

[0013] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0014] The following describes the specific implementation manners of the above concepts.

[0015] Please refer to Figure 1 , a turntable azimuth attitude estimation method based on gyroscope - code disk provided by an embodiment of the present invention, the method includes: Step 100: For the turntable azimuth attitude estimation at each moment, perform: Obtain the turntable azimuth angular velocity measurement value fed back by the gyroscope and the turntable azimuth angle measurement value fed back by the code disk at the current moment to construct the azimuth attitude measurement matrix at the current moment; Step 102: Based on the azimuth attitude measurement matrix at the current moment, the prior estimate value of the azimuth attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, use the Kalman filtering algorithm to fuse the measurement values fed back by the gyroscope and the code disk to obtain the turntable azimuth attitude estimate value at the current moment; wherein, the azimuth attitude includes azimuth angular velocity and azimuth angle; Step 104: Calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimate value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and iteratively perform the turntable azimuth attitude estimation at the next moment.

[0016] In the embodiments of the present invention, by combining the advantages of two sensors, namely, a gyroscope and an encoder, and fusing the dynamic prediction of the gyroscope and the absolute observation of the encoder through the Kalman filtering algorithm, the system can achieve the effect of relying on the gyroscope at high frequencies and the encoder at low frequencies. At the same time, the covariance weight is adjusted in real time based on the residuals to balance the uncertainty of the system noise, which can greatly improve the accuracy and real-time performance of the azimuth attitude estimation of the turntable under complex working conditions.

[0017] The following describes Figure 1 the execution manners of the respective steps shown.

[0018] Regarding step 100: In this embodiment, an MEMS gyroscope is selected to directly obtain the measurement value of the azimuth angular velocity of the turntable , and an encoder is used to directly obtain the measurement value of the azimuth angle of the turntable to obtain the azimuth attitude measurement matrix at the current moment .

[0019] Regarding step 102: In some embodiments, step 102 may include steps S1 - S5: Step S1, based on the azimuth attitude estimated value of the turntable at the previous moment, determine the prior estimated value of the azimuth attitude for the current moment.

[0020] In this step, the prior estimated value of the azimuth attitude for the current moment can be expressed as: where the state transition matrix , is the sampling time interval of the gyroscope, is the azimuth attitude estimated value of the turntable at the previous moment.

[0021] It should be noted that the azimuth attitude estimated value of the turntable at the initial moment , where is the initial azimuth angle of the turntable fed back by the encoder.

[0022] Step S2, obtain the process noise covariance matrix updated and adjusted at the previous moment and the covariance matrix at the previous moment to determine the prediction covariance matrix.

[0023] In some embodiments, the prediction covariance matrix is calculated in the following manner: where In the formula, is the predicted covariance matrix, is the state transition matrix, is the transpose of the state transition matrix, is the covariance matrix at the previous moment, is the current process noise covariance matrix, is the initial covariance matrix, is the initial angle error used to characterize the accuracy of the code disk, is the initial angular velocity error used to characterize the zero bias of the gyroscope, is the sampling time interval of the gyroscope, is the initial process noise covariance matrix, is the angle integration error of the code disk turntable, is the angular velocity perturbation of the gyroscope turntable.

[0024] In this embodiment, by constructing the process noise covariance matrix based on the angular velocity perturbation of the gyroscope turntable and the angle integration error of the code disk turntable, and continuously updating and adjusting the process noise covariance matrix based on the residuals, the predicted covariance weight is adjusted in real time to balance the system process noise.

[0025] Step S3, obtain the updated and adjusted observation noise covariance matrix at the previous moment, so as to update the Kalman gain matrix at the current moment based on the predicted covariance matrix and the obtained observation noise covariance matrix.

[0026] In the implementation of the present invention, the Kalman gain matrix at the current moment is calculated by the following formula: Wherein, In the formula, is the Kalman gain matrix at the current moment, is the predicted covariance matrix, is the observer, is the current observation noise covariance matrix, is the initial observation noise covariance matrix, is the angle measurement variance of the code disk, is the angular velocity measurement variance of the gyroscope.

[0027] In this embodiment, an observation noise covariance matrix is constructed based on the angular velocity measurement variance of the gyroscope and the angle measurement variance of the code disk, and the observation noise covariance matrix is continuously updated and adjusted based on the residuals to adjust the value of the Kalman gain matrix in real time, so as to dynamically adjust the weights of the two sensor data for the final estimation through the Kalman gain matrix, balance the system observation noise, and enable the system to achieve the effect of high-frequency dependence on the gyroscope and low-frequency dependence on the code disk.

[0028] Step S4: Based on the prior estimate value of the azimuth attitude at the current moment, the azimuth attitude measurement matrix at the current moment, and the Kalman gain matrix at the current moment, fuse the measurement values fed back by the gyroscope and the code disk to obtain the estimated value of the azimuth attitude of the turntable at the current moment.

[0029] In the embodiment of the present invention, the estimated value of the azimuth attitude of the turntable at the current moment is determined by the following formula: where, In the formula, is the estimated value of the azimuth attitude of the turntable at the current moment, is the prior estimate value of the azimuth attitude for the current moment, is the Kalman gain matrix at the current moment, is the azimuth attitude measurement matrix at the current moment, is the observer, is the measured value of the azimuth angle of the turntable fed back by the code disk at the current moment, is the measured value of the azimuth angular velocity of the turntable fed back by the gyroscope at the current moment, is the estimated value of the azimuth attitude of the turntable at the initial moment, is the initial azimuth angle of the turntable fed back by the code disk.

[0030] In this embodiment, the covariance weight is adjusted in real time by an adaptive method based on residuals to balance the uncertainty of the system noise. When there are complex environments with large interference noises such as strong winds and heavy rains, the observation noise covariance matrix and the process noise covariance matrix can be adjusted based on the residuals to adjust the value in the Kalman gain matrix, achieve the weight trust adjustment of the two sensor measurement values, and output the estimated value of the azimuth attitude of the turntable at the current moment, so that the system can achieve the effect of high-frequency dependence on the gyroscope and low-frequency dependence on the code disk, and can output the estimated values of the azimuth attitude of the turntable with different focuses under different environmental interference intensities, enabling the estimation of the azimuth attitude of the turntable to adapt to different complex environments, with a focus on accuracy when the environmental interference is small and a focus on speed and reliability when the environmental interference is large.

[0031] Step S5: Update the covariance matrix at the current moment based on the predicted covariance matrix and the Kalman gain matrix at the current moment for use in the next moment.

[0032] In this step, the covariance matrix at the current moment can be updated as follows: where the identity matrix .

[0033] Regarding step 104: In some embodiments, step 104 may include steps B1 - B5: Step B1: Calculate the residual based on the azimuth and attitude measurement matrix at the current moment and the prior estimate of the azimuth and attitude at the current moment.

[0034] Specifically: In the formula, is the residual at the current moment, is the azimuth and attitude measurement matrix at the current moment, is the observer, is the prior estimate of the azimuth and attitude at the current moment.

[0035] Step B2: Estimate the residual covariance using the sliding window method.

[0036] Specifically: In the formula, is the residual covariance, is the residual at the i - th moment, is the transpose of the residual at the i - th moment, and t is the current moment.

[0037] Step B3: Update and adjust the process noise covariance matrix based on the residual covariance and the Kalman gain matrix at the current moment, and perform numerical symmetric positive definite processing on the process noise covariance matrix.

[0038] In some embodiments, step B3 may include: where, is the initially updated and adjusted process noise covariance matrix, is the Kalman gain matrix at the current moment, is the residual covariance, is the process noise covariance matrix after numerical symmetric positive definite processing, and the constant , the identity matrix , is a small positive definite matrix.

[0039] In this embodiment, after updating the process noise covariance using the residual, to avoid the covariance matrix losing symmetry and positive definiteness due to numerical calculation errors, it is necessary to perform numerical symmetrization and positive definitization on the process noise covariance to obtain the finally updated process noise covariance matrix.

[0040] Step B4, based on the residual covariance and the predicted covariance matrix, update and adjust the observation noise covariance matrix, and perform numerical symmetrization and positive definitization on the observation noise covariance matrix.

[0041] In some embodiments, step B4 may include: In the formula, is the initially updated and adjusted observation noise covariance matrix, is the residual covariance, is the observer, is the predicted covariance matrix, is the observation noise covariance matrix after numerical symmetrization and positive definitization, is a small positive definite matrix.

[0042] In summary, this solution uses the multi-sensor information fusion method to achieve the function of estimating the azimuth attitude of the turntable, and can solve the problem of difficult and accurate estimation of the azimuth attitude of the turntable under complex working conditions. The sensors used in this solution include a MEMS gyroscope and a code disk. The MEMS gyroscope has the characteristics of fast high-frequency response and drift error, and the code disk has the characteristics of accurate measurement results and poor high-frequency response. This solution fully considers the model error, combines the advantages of the two types of sensors through the Kalman filter algorithm, and uses the residual-based adaptive method to adjust the covariance weight in real time to balance the uncertainty of the system noise. When a complex environment with large interference noise such as strong wind and heavy rain occurs, the observation noise covariance matrix and the process noise covariance matrix can be adjusted based on the residual to adjust the values in the Kalman gain matrix in real time, achieving a weight-dependent adjustment of the measurement values of the two sensors, and outputting the estimated value of the azimuth attitude of the turntable at the current moment, so that the system can achieve the effect of relying on the gyroscope at high frequencies and the code disk at low frequencies, and can output different azimuth attitude estimation values of the turntable with different focuses under different environmental interference intensities, so that the estimation of the azimuth attitude of the turntable can adapt to different complex environments, focusing on accuracy when the environmental interference is small and focusing on speed and reliability when the environmental interference is large. Regardless of the environment, an azimuth attitude estimation of the turntable with high accuracy and fast response speed can be obtained comprehensively.

[0043] Please refer toFigure 2 , an embodiment of the present invention provides a turntable azimuth attitude estimation device based on a gyroscope - code disk. The device includes: An acquisition unit 201, for each moment of turntable azimuth attitude estimation, is used to perform: acquiring the measured value of the turntable azimuth angular velocity feedback by the gyroscope and the measured value of the turntable azimuth angle feedback by the code disk at the current moment, so as to construct the azimuth attitude measurement matrix at the current moment; A fusion unit 202, for based on the azimuth attitude measurement matrix at the current moment, the prior estimate value of the azimuth attitude for the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, using the Kalman filter algorithm to fuse the measurement values feedback by the gyroscope and the code disk, and obtaining the estimated value of the turntable azimuth attitude at the current moment; wherein, the azimuth attitude includes the azimuth angular velocity and the azimuth angle; An update unit 203, for calculating the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimate value of the azimuth attitude for the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and iteratively perform the turntable azimuth attitude estimation at the next moment.

[0044] In an embodiment of the present invention, the fusion unit 202 is used to perform: Based on the estimated value of the turntable azimuth attitude at the previous moment, determining the prior estimate value of the azimuth attitude for the current moment; Acquiring the process noise covariance matrix updated and adjusted at the previous moment and the covariance matrix at the previous moment, so as to determine the predicted covariance matrix; Acquiring the observation noise covariance matrix updated and adjusted at the previous moment, so as to update the Kalman gain matrix at the current moment based on the predicted covariance matrix and the acquired observation noise covariance matrix; Based on the prior estimate value of the azimuth attitude at the current moment, the azimuth attitude measurement matrix at the current moment, and the Kalman gain matrix at the current moment, fusing the measurement values feedback by the gyroscope and the code disk, and obtaining the estimated value of the turntable azimuth attitude at the current moment; Based on the predicted covariance matrix and the Kalman gain matrix at the current moment, updating the covariance matrix at the current moment for the next moment to call.

[0045] In an embodiment of the present invention, the predicted covariance matrix in the fusion unit 202 is calculated by the following method: Wherein, In the formula, is the predicted covariance matrix, is the state transition matrix, is the transpose of the state transition matrix, is the covariance matrix at the previous moment, is the current process noise covariance matrix, is the initial covariance matrix, is the initial angular error used to characterize the accuracy of the code disk, is the initial angular velocity error used to characterize the gyroscope zero bias, is the sampling time interval of the gyroscope, is the angle integration error of the code disk turntable, is the angular velocity perturbation of the gyroscope turntable.

[0046] In an embodiment of the present invention, the estimated value of the turntable azimuth attitude at the current moment in the fusion unit 202 is determined by the following formula: where, In the formula, is the estimated value of the turntable azimuth attitude at the current moment, is the prior estimated value of the azimuth attitude for the current moment, is the Kalman gain matrix at the current moment, is the azimuth attitude measurement matrix at the current moment, is the observer, is the measured value of the turntable azimuth angle fed back by the code disk at the current moment, is the measured value of the turntable azimuth angular velocity fed back by the gyroscope at the current moment, is the estimated value of the turntable azimuth attitude at the initial moment, is the initial azimuth angle of the turntable fed back by the code disk.

[0047] In an embodiment of the present invention, the update unit 203 is used to execute: Calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude for the current moment; Estimate the residual covariance using the sliding window method; Based on the residual covariance and the Kalman gain matrix at the current moment, update and adjust the process noise covariance matrix, and perform numerical symmetric positive definite processing on the process noise covariance matrix; Based on the residual covariance and the prediction covariance matrix, update and adjust the observation noise covariance matrix, and perform numerical symmetric positive definite processing on the observation noise covariance matrix.

[0048] In one embodiment of the present invention, when the updating unit 203 updates and adjusts the process noise covariance matrix based on the residual covariance and the Kalman gain matrix at the current moment, and performs numerical symmetric positive definite processing on the process noise covariance matrix, it is used to perform: Wherein, is the process noise covariance matrix after initial update and adjustment, is the Kalman gain matrix at the current moment, is the residual covariance, is the process noise covariance matrix after numerical symmetric positive definite processing, is a small positive definite matrix.

[0049] It should be noted that the above device embodiment and method embodiment belong to the same concept. For the specific implementation process, please refer to the method embodiment, which will not be elaborated here.

[0050] An embodiment of the present application further provides a computer device, which includes a processor and a memory. The memory stores at least one instruction, at least one program, a code set or an instruction set. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the gyroscope-encoder-based turntable azimuth attitude estimation method provided by the above method embodiments.

[0051] An embodiment of the present application further provides a computer-readable storage medium, on which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, at least one program, the code set or the instruction set is loaded and executed by the processor to implement the gyroscope-encoder-based turntable azimuth attitude estimation method provided by the above method embodiments.

[0052] An embodiment of the present application further provides a computer program product, which includes a computer program. The processor of the computer device reads the computer program from the computer-readable storage medium, and the processor executes the computer program, so that the computer device executes the gyroscope-encoder-based turntable azimuth attitude estimation method in any of the above embodiments.

[0053] For the convenience of description, when describing the above device or devices, various modules or units are described separately according to functions. Of course, when implementing the present application, the functions of each unit can be realized in one or more software and / or hardware.

[0054] As can be seen from the description of the above embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of this application, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0055] Finally, it should also be noted that in this text, relational terms such as first, second, third, and fourth are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0056] The above are only the preferred embodiments of this application. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. A method for estimating the azimuth attitude of a turntable based on a gyroscope - code disk, characterized in that Including: For the azimuth attitude estimation at each moment, the following operations are performed: Obtain the measured value of the azimuth angular velocity of the turntable feedback by the gyroscope and the measured value of the azimuth angle of the turntable feedback by the code disk at the current moment to construct the azimuth attitude measurement matrix at the current moment; Based on the azimuth attitude measurement matrix at the current moment, the prior estimated value of the azimuth attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, use the Kalman filter algorithm to fuse the measured values feedback by the gyroscope and the code disk to obtain the estimated value of the azimuth attitude of the turntable at the current moment; where the azimuth attitude includes the azimuth angular velocity and the azimuth angle; Calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and iteratively perform the azimuth attitude estimation of the turntable at the next moment.

2. The method according to claim 1, wherein The estimated value of the azimuth attitude of the turntable at the current moment is calculated in the following way: Based on the estimated value of the azimuth attitude of the turntable at the previous moment, determine the prior estimated value of the azimuth attitude at the current moment; Obtain the process noise covariance matrix updated and adjusted at the previous moment and the covariance matrix at the previous moment to determine the predicted covariance matrix; Obtain the observation noise covariance matrix updated and adjusted at the previous moment, and update the Kalman gain matrix at the current moment based on the predicted covariance matrix and the obtained observation noise covariance matrix; Based on the prior estimated value of the azimuth attitude at the current moment, the azimuth attitude measurement matrix at the current moment, and the Kalman gain matrix at the current moment, fuse the measured values feedback by the gyroscope and the code disk to obtain the estimated value of the azimuth attitude of the turntable at the current moment; Based on the predicted covariance matrix and the Kalman gain matrix at the current moment, update the covariance matrix at the current moment for use at the next moment.

3. The method according to claim 2, wherein The predicted covariance matrix is calculated in the following way: Where, In the formula, is the predicted covariance matrix, is the state transition matrix, is the transpose of the state transition matrix, is the covariance matrix at the previous moment, is the current process noise covariance matrix, is the initial covariance matrix, is the initial angular error used to characterize the accuracy of the code disk, is the initial angular velocity error used to characterize the gyro zero bias, is the sampling time interval of the gyroscope, is the integral error of the code disk turntable angle, is the angular velocity perturbation of the gyroscope turntable.

4. The method according to claim 2, wherein The estimated value of the azimuth attitude of the turntable at the current moment is determined by the following formula: Where, In the formula, is the estimated value of the azimuth attitude of the turntable at the current moment, is the prior estimated value of the azimuth attitude for the current moment, is the Kalman gain matrix at the current moment, is the azimuth attitude measurement matrix at the current moment, is the observer, is the measured value of the azimuth angle of the turntable fed back by the encoder at the current moment, is the measured value of the azimuth angular velocity of the turntable fed back by the gyroscope at the current moment, is the estimated value of the azimuth attitude of the turntable at the initial moment, is the initial azimuth angle of the turntable fed back by the encoder.

5. The method according to claim 2, wherein The calculation of the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, includes: Calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment; Use the sliding window method to estimate the residual covariance; Based on the residual covariance and the Kalman gain matrix at the current moment, update and adjust the process noise covariance matrix, and perform numerical symmetric positive definite processing on the process noise covariance matrix; Based on the residual covariance and the predicted covariance matrix, update and adjust the observation noise covariance matrix, and perform numerical symmetric positive definite processing on the observation noise covariance matrix.

6. The method according to claim 5, characterized in that, The updating and adjusting of the process noise covariance matrix based on the residual covariance and the Kalman gain matrix at the current moment, and performing numerical symmetric positive definite processing on the process noise covariance matrix, includes: Among them, is the process noise covariance matrix after initial update adjustment, is the Kalman gain matrix at the current moment, is the residual covariance, is the process noise covariance matrix after numerical symmetrization and positive definite processing, is a small positive definite matrix.

7. A turntable azimuth attitude estimation device based on a gyroscope - code disk, which is used to implement the steps of the method according to any one of claims 1 - 6 above, and is characterized in that, Including: An acquisition unit, for each moment of the azimuth attitude estimation of the turntable, is used to perform: acquiring the measured value of the azimuth angular velocity of the turntable fed back by the gyroscope and the measured value of the azimuth angle of the turntable fed back by the code disk at the current moment, so as to construct the azimuth attitude measurement matrix at the current moment; A fusion unit, which is used to fuse the measured values fed back by the gyroscope and the code disk by using the Kalman filtering algorithm based on the azimuth attitude measurement matrix at the current moment, the prior estimated value of the azimuth attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, so as to obtain the estimated value of the azimuth attitude of the turntable at the current moment; wherein, the azimuth attitude includes the azimuth angular velocity and the azimuth angle; An update unit, which is used to calculate the residual based on the azimuth attitude measurement matrix at the current moment and the prior estimated value of the azimuth attitude at the current moment, so as to adaptively update and adjust the process noise covariance matrix and the observation noise covariance matrix based on the residual, and perform the azimuth attitude estimation of the turntable at the next moment iteratively.

8. A computer device, characterized in that, The computer device includes a memory and a processor, the memory is used to store a computer program, and the processor is used to execute the computer program stored on the memory to implement the steps of the method according to any one of claims 1-6 above.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

10. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1-6 are implemented.

Images