Self-adaptive rotary table space attitude estimation method and device based on multiple coded discs

Abstract

The invention discloses a self-adaptive rotary table space attitude estimation method and device based on multiple coded discs, and belongs to the field of attitude estimation. The method comprises the following steps: aiming at rotary table space attitude estimation at each moment, obtaining a rotary table azimuth angle measurement value fed back by an absolute code disc at the current moment and a rotary table pitch angular velocity measurement value fed back by an incremental code disc so as to construct a space attitude measurement matrix at the current moment; fusing measurement values fed back by the absolute code disc and the incremental code disc through a Kalman filtering algorithm to obtain a rotary table space 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 absolute code disc sensor and the incremental code disc sensor are combined, 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 safety is high.

Description

Technical Field

[0001] The present invention relates to the technical field of attitude estimation, and in particular to a method and device for estimating the spatial attitude of an adaptive turntable based on multiple code disks. Background Art

[0002] Currently, in actual supervision and management work, relevant departments mainly use turntable equipment installed at key routes to monitor, track, and collect evidence on targets. However, due to factors such as insufficient component processing precision, cost constraints, and large system errors, the existing turntable equipment cannot accurately estimate the turntable's spatial attitude, which makes it difficult for law enforcement agencies to obtain evidence. The traditional method of using a single code disk sensor for direct feedback to estimate the turntable's spatial attitude has large system errors and insufficient stability, making it impossible to accurately estimate the turntable's spatial attitude. Other conventional signal processing methods (such as mean filtering) can only reduce a small amount of error, lack adaptability, and still cannot accurately estimate the turntable's spatial attitude.

[0003] Therefore, there is an urgent need to provide a method and device for estimating the spatial posture of an adaptive turntable based on multiple code disks. Summary of the Invention

[0004] In order to solve the problem that the traditional use of a single code disk sensor has large system errors and insufficient stability under complex working conditions, an embodiment of the present invention provides an adaptive turntable spatial posture estimation method and device based on multiple code disks.

[0005] On the one hand, a method for estimating spatial posture of an adaptive turntable based on multiple code disks is provided, the method comprising:

[0006] For the turntable spatial attitude estimation at each moment, the following operations are performed:

[0007] Obtain the turntable azimuth angle measurement value fed back by the absolute encoder at the current moment and the turntable pitch angular velocity measurement value fed back by the incremental encoder at the current moment to construct the spatial attitude measurement matrix at the current moment;

[0008] Based on the spatial attitude measurement matrix at the current moment, the prior estimate of the spatial attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, the Kalman filter algorithm is used to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk to obtain the estimated value of the turntable spatial attitude at the current moment;

[0009] The residual is calculated based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial 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, so as to iteratively estimate the turntable spatial attitude at the next moment.

[0010] On the other hand, a multi-code disk-based adaptive turntable spatial posture estimation device based on the steps described in any method embodiment of the specification is provided, the device comprising:

[0011] The acquisition unit is used to estimate the spatial attitude of the turntable at each moment, and performs the following operations: acquiring the turntable azimuth angle measurement value fed back by the absolute code disk and the turntable pitch angular velocity measurement value fed back by the incremental code disk at the current moment, so as to construct the spatial attitude measurement matrix at the current moment;

[0012] A fusion unit is configured to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk using a Kalman filter algorithm based on the spatial attitude measurement matrix at the current moment, the prior estimation value of the spatial 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 an estimated value of the spatial attitude of the turntable at the current moment;

[0013] An updating unit is used to calculate a residual based on the spatial attitude measurement matrix at the current moment and a priori estimation value of the spatial 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, so as to iteratively estimate the turntable spatial attitude at the next moment.

[0014] On the other hand, a computer device is provided, comprising a memory and a processor, wherein the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to implement the steps of the above-mentioned method.

[0015] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored in the storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned method are implemented.

[0016] On the other hand, a computer program product is provided, comprising a computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0017] The technical solution provided by the present invention can at least bring the following beneficial effects:

[0018] While the absolute encoder uses a brushless motor for high precision, it won't self-lock without power. This makes it unsafe to operate the turntable in standby mode while measuring pitch angles, potentially knocking the turntable down and losing pitch accuracy. Incremental encoders, on the other hand, feature a brushless motor, which is less precise and more economical, but maximizes the turntable's pitch safety while in standby mode. By combining the advantages of both absolute and incremental encoder sensors and integrating the absolute encoder's azimuth and pitch angle measurements via a Kalman filter algorithm, the system relies on measurement results when stable and on predictions when unstable. Furthermore, the covariance weights are adjusted in real time based on the residuals to balance the uncertainty of system noise, significantly improving the accuracy and safety of the turntable's spatial attitude estimation under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a flow chart of a method for estimating spatial posture of an adaptive turntable based on multiple code disks provided by one embodiment of the present invention;

[0021] Figure 2 This is a structural diagram of an adaptive turntable spatial posture estimation device based on multiple code disks provided by one embodiment of the present invention;

[0022] Figure 3 This is a hardware architecture diagram of a computer device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] The specific implementation of the above concept is described below.

[0025] Please refer to Figure 1 An embodiment of the present invention provides a method for estimating spatial posture of an adaptive turntable based on multiple code disks, the method comprising:

[0026] Step 100: For the turntable spatial attitude estimation at each moment, the following steps are performed: obtaining the turntable azimuth angle measurement value fed back by the absolute encoder and the turntable pitch angular velocity measurement value fed back by the incremental encoder at the current moment, to construct the spatial attitude measurement matrix at the current moment;

[0027] Step 102: Based on the spatial attitude measurement matrix at the current moment, the prior estimate of the spatial attitude at the current moment, and the updated and adjusted process noise covariance matrix and observation noise covariance matrix at the previous moment, the Kalman filter algorithm is used to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk to obtain the estimated spatial attitude of the turntable at the current moment;

[0028] Step 104: Calculate the residual based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial attitude at the current moment, and adaptively update the adjustment process noise covariance matrix and the observation noise covariance matrix based on the residual to iteratively estimate the turntable spatial attitude at the next moment.

[0029] In the embodiments of the present invention, although the absolute encoder uses a brushless motor, which offers high precision, it will not self-lock when de-energized. This makes it unsafe when the turntable is in standby mode while measuring pitch angles, potentially causing the turntable to fall, thus failing to guarantee pitch accuracy. In contrast, the incremental encoder, equipped with a brushless motor, while less precise and more economical, can maximize the turntable's safety in pitch while in standby mode. By combining the advantages of both absolute and incremental encoder sensors and fusing the absolute encoder's azimuth measurement with the encoder's pitch angle measurement via a Kalman filter algorithm, the system can achieve the effect of relying on measurement results when the state is stable and on prediction results when the state is unstable. Furthermore, the covariance weights are adjusted in real time based on the residual to balance the uncertainty of system noise, significantly improving the accuracy and safety of the turntable's spatial attitude estimation under complex working conditions.

[0030] Described below Figure 1 How to perform the steps shown.

[0031] For step 100:

[0032] In this embodiment, the value directly fed back by the absolute encoder is the turntable azimuth angle measurement value θ a,t , the value directly fed back by the incremental encoder is the measured value of the turntable pitch angular velocity ω e,t In this embodiment, the parameters directly measured by the two code disks are used to form a spatial attitude measurement matrix, instead of using the turntable azimuth angle measurement value to calculate the turntable azimuth velocity, and the turntable pitch angular velocity measurement value to calculate the turntable pitch angle to construct the spatial attitude measurement matrix. This can avoid the error caused by conversion, which leads to the problem of poor spatial attitude estimation accuracy caused by low precision and reliability of the spatial attitude measurement matrix.

[0033] Regarding step 102:

[0034] In some implementations, step 102 may include steps S1-S5:

[0035] Step S1: Determine a priori estimated value of the spatial attitude of the turntable at the current moment based on the estimated value of the spatial attitude of the turntable at the previous moment.

[0036] In this step, the prior estimate of the spatial attitude at the current moment Θ t|t-1 It can be expressed as:

[0037] Θ t|t-1 =F*Θ t-1|t-1

[0038] Among them, the state transfer matrix Δt is the sampling time interval, Θ t-1|t-1 is the estimated value of the turntable's spatial posture at the previous moment.

[0039] It should be noted that the estimated value of the turntable space attitude at the initial moment is Among them, θ0 is the initial azimuth angle of the turntable fed back by the absolute encoder, θ e,0 The initial pitch angle of the turntable fed back by the incremental encoder.

[0040] Step S2: Obtain the updated and adjusted process noise covariance matrix at the last moment and the covariance matrix at the last moment to determine a predicted covariance matrix.

[0041] In some embodiments, the prediction covariance matrix is ​​calculated as follows:

[0042] P t|t-1 =F*P t-1|t-1 *F T +Q t

[0043] in,

[0044]

[0045] Where, P t|t-1 is the prediction covariance matrix, F is the state transfer matrix, F T is the transpose of the state transfer matrix, P t-1|t-1 is the covariance matrix of the previous moment, Q t is the current process noise covariance matrix, P 0|0 is the initial covariance matrix, σ a,θ is the initial azimuth angle error used to characterize the absolute code disk accuracy, σ e,θ is the initial pitch angle error used to characterize the accuracy of the incremental code disk, σ a,ω and σ e,ωThey are the initial azimuth velocity error and the initial pitch angular velocity error, which can usually be set to a larger value (such as 1 rad / s) for rapid convergence. Δt is the sampling time interval, q a,θ and q a,ω are the azimuth angle integral error and azimuth velocity disturbance of the absolute code disk, q e,θ and q e,ω are the incremental code disk pitch angle integral error and pitch angular velocity disturbance respectively.

[0046] In this embodiment, the process noise covariance matrix is ​​constructed based on the azimuth angle integral error and azimuth velocity disturbance of the absolute code disk, and the pitch angle integral error and pitch velocity disturbance of the incremental code disk, and the process noise covariance matrix is ​​continuously updated and adjusted based on the residual to adjust the prediction covariance weight in real time, so as to balance the system process noise.

[0047] Step S3: Obtain the observation noise covariance matrix that was updated and adjusted at the previous moment, so as to update the Kalman gain matrix at the current moment based on the prediction covariance matrix and the obtained observation noise covariance matrix.

[0048] In the implementation of the present invention, the Kalman gain matrix at the current moment is calculated by the following formula:

[0049] K t =P t|t-1 *H T *(H*P t|t-1 *H T +R t ) -1

[0050] in,

[0051]

[0052] Where K t is the Kalman gain matrix at the current moment, P t|t-1 is the prediction covariance matrix, H is the observer, R t is the current observation noise covariance matrix, R0 is the initial observation noise covariance matrix, r θ is the angle measurement variance of the absolute code disk, r ω is the angular velocity measurement variance of the incremental code disk.

[0053] In this embodiment, an observation noise covariance matrix is ​​constructed based on the angular velocity measurement variance of the incremental code disk and the angle measurement variance of the absolute code disk, and the observation noise covariance matrix is ​​continuously updated and adjusted based on the residual to adjust the value of the Kalman gain matrix in real time. In this way, the weights of the two sensor data on the final estimate are dynamically adjusted through the Kalman gain matrix to balance the system observation noise, so that the system can achieve the effect of relying on measurement results when the state is stable and relying on prediction results when the state is unstable.

[0054] Step S4, based on the current moment's spatial attitude prior estimation value, the current moment's spatial attitude measurement matrix and the current moment's Kalman gain matrix, the measurement values ​​of the absolute code disk and the incremental code disk feedback are integrated to obtain the current moment's turntable spatial attitude estimation value.

[0055] In this embodiment of the present invention, the estimated value of the turntable's orientation and attitude at the current moment is determined by the following formula:

[0056] Θ t|t =Θ t|t-1 +K t *(Z t -H*Θ t|t-1 )

[0057] in,

[0058]

[0059] Where, Θ t|t is the estimated value of the turntable space posture at the current moment, Θ t|t-1 is the prior estimate of the spatial attitude at the current moment, K t is the Kalman gain matrix at the current moment, Z t is the spatial attitude measurement matrix at the current moment, H is the observer, θ a,t is the turntable azimuth angle measurement value fed back by the absolute encoder at the current moment, ω e,t is the pitch angular velocity measurement value of the turntable fed back by the incremental encoder at the current moment, ω a,t is the estimated value of the turntable azimuth velocity, θ e,t is the estimated pitch angle of the turntable, Θ 0|0 is the estimated value of the turntable space posture at the initial moment, θ a,0 is the initial azimuth angle of the turntable fed back by the absolute encoder, θ e,0 The initial pitch angle of the turntable fed back by the incremental encoder is usually set to zero after the equipment self-test.

[0060] Since the spatial attitude measurement matrix Z t Direct feedback value θ from two code disks a,t and ω e,t The composition is used as the measurement input, and the turntable spatial posture estimation value Θt|t In addition to the direct feedback value θ a,t 、ω e,t In addition, it also includes the estimated turntable azimuth velocity ω obtained by adjusting the weight using the Kalman gain matrix a,t and the estimated turntable pitch angle θ e,t .

[0061] Therefore, in this embodiment, an adaptive method based on residuals is used to adjust the covariance weights in real time to balance the uncertainty of system noise. When a complex environment with large interference noise such as strong winds and heavy rain occurs, the observation noise covariance matrix and the process noise covariance matrix can be adjusted based on the residuals to adjust the values ​​in the Kalman gain matrix to achieve the weight trust adjustment of the two sensor measurement values, and output the turntable spatial attitude estimation value at the current moment, so that the system can achieve the effect of low-frequency dependence on measurement values ​​and high-frequency dependence on predicted estimation values. It can output turntable spatial attitude estimation values ​​with different emphases under different environmental interference intensities, so that the estimation of the turntable spatial attitude can adapt to different complex environments, focusing on measurement values ​​when the environmental interference is small, and focusing on predicted estimation values ​​when the environmental interference is large.

[0062] Step S5: Based on the predicted covariance matrix and the Kalman gain matrix at the current moment, the covariance matrix at the current moment is updated for use at the next moment.

[0063] In this step, the covariance matrix at the current moment can be updated as follows:

[0064] P t|t =(IK t *H)*P t|t-1

[0065] Among them, the identity matrix

[0066] Regarding step 104:

[0067] In some implementations, step 104 may include steps B1-B5:

[0068] Step B1, calculate the forgetting factor d at the current moment t .

[0069]

[0070] Among them, b is the forgetting factor parameter, the value range is usually 0.95≤b≤0.99, and t is the number of cycles at the current moment.

[0071] Step B2: Calculate the residual based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial attitude at the current moment.

[0072] Specifically:

[0073] e t =Z t -H*Θ t|t-1

[0074] Where, e t is the residual at the current moment, Z t is the spatial attitude measurement matrix at the current moment, H is the observer, Θ t|t-1 is the prior estimate of the spatial attitude at the current moment.

[0075] Step B3, based on the residual and the Kalman gain matrix at the current moment, calculate the uncertainty error of the residual, and calculate the covariance change based on the covariance matrix at the previous moment and the current moment, so as to update and adjust the process noise covariance matrix in combination with the forgetting factor at the current moment, and numerically symmetrize and positively define the process noise covariance matrix.

[0076] In some embodiments, step B3 may include:

[0077] The process noise covariance matrix is ​​updated and adjusted by the following formula:

[0078] M=K t *e t *e t T *K t T

[0079] N=(P t|t -F*P t-1|t-1 *F T )

[0080]

[0081] Perform numerical symmetrization and positive definite processing on the process noise covariance matrix:

[0082]

[0083] in, is the process noise covariance matrix after initial update adjustment, M is the uncertainty error of the residual, which is used to characterize the uncertainty error of the residual fed back to the state space through the Kalman gain matrix, K t is the Kalman gain matrix at the current moment, e t is the residual, N is the covariance change, which is used to reflect the uncaptured dynamics, and P t-1|t-1 and P t|t are the covariance matrices of the previous moment and the current moment, F is the state transfer matrix, Q t is the historical process noise covariance matrix, d tis the forgetting factor at the current moment, is the process noise covariance matrix after numerical symmetry and positive definite processing, ∈I is a small positive definite matrix, is a small positive definite matrix.

[0084] In this embodiment, after the residual is used to update the process noise covariance, in order to avoid the loss of symmetry and positive definiteness of the covariance matrix due to numerical calculation errors, the process noise covariance needs to be numerically symmetrized and positively definite to obtain the final updated process noise covariance matrix.

[0085] Step B4, calculate the prediction uncertainty error based on the prediction covariance matrix, combine the square of the residual and the forgetting factor at the current moment, update and adjust the observation noise covariance matrix, and numerically symmetrize and positively define the observation noise covariance matrix.

[0086] In some embodiments, step B4 may include:

[0087] Y=H*P t|t-1 *H T

[0088]

[0089] Where Y is the uncertainty error of the prediction, which is used to separate the model error of high-frequency noise and low-frequency stability. is the observation noise covariance matrix after initial update adjustment, e t is the residual, H is the observer, P t|t-1 is the prediction covariance matrix, R t+1 is the observation noise covariance matrix after numerical symmetry and positive definite processing, ∈I is a small positive definite matrix, R t is the historical observation noise covariance matrix, d t is the forgetting factor at the current moment. e t *e t T It is the square of the measurement residual, which directly reflects the noise intensity.

[0090] In summary, this solution utilizes a multi-code disc information fusion method to implement turntable spatial attitude estimation, addressing the issue of low turntable spatial attitude estimation accuracy under complex operating conditions. This solution fully considers model errors and combines the advantages of two sensor types through a Kalman filter algorithm. A residual-based adaptive method is employed to adjust the covariance weights in real time to balance the uncertainty of system noise. In complex environments with high interference noise, such as strong winds or heavy rainfall, the observation noise covariance matrix and the process noise covariance matrix are adjusted based on the residuals to adjust the values ​​in the Kalman gain matrix in real time. This achieves a trust balance between the two sensor measurements and outputs the turntable spatial attitude estimate at the current moment. This results in the system relying on observations when the state is stable and on predictions when the state is unstable. This allows for outputting turntable spatial attitude estimates with varying emphasis under varying environmental interference intensities. Furthermore, an adaptive method is employed to adjust the covariance weights in real time to balance the uncertainty of system noise, ultimately resulting in a highly accurate and secure turntable spatial attitude estimation technology.

[0091] Please refer to Figure 2 The embodiment of the present invention provides an adaptive turntable spatial posture estimation device based on multiple code disks, the device comprising:

[0092] The acquisition unit 201 is configured to estimate the spatial attitude of the turntable at each moment by: acquiring the turntable azimuth angle measurement value fed back by the absolute encoder and the turntable pitch velocity measurement value fed back by the incremental encoder at the current moment, so as to construct a spatial attitude measurement matrix at the current moment;

[0093] A fusion unit 202 is configured to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk using a Kalman filter algorithm based on the current spatial attitude measurement matrix, the prior estimate of the spatial attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, to obtain an estimated value of the turntable spatial attitude at the current moment;

[0094] The updating unit 203 is used to calculate the residual based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial attitude at the current moment, so as to adaptively update the adjustment process noise covariance matrix and the observation noise covariance matrix based on the residual, so as to iteratively estimate the turntable spatial attitude at the next moment.

[0095] It should be noted that the above-mentioned device embodiment and method embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0096] An embodiment of the present application also provides a computer device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the adaptive turntable spatial posture estimation method based on multiple code disks provided in the above-mentioned method embodiments.

[0097] An embodiment of the present application also provides a computer-readable storage medium, on which is stored at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the adaptive turntable spatial posture estimation method based on multiple code disks provided in the above-mentioned method embodiments.

[0098] An embodiment of the present application also provides a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium, and the processor executes the computer program, so that the computer device executes any of the adaptive turntable spatial posture estimation methods based on multiple code disks in the above embodiments.

[0099] For the convenience of description, the above devices or apparatuses are described as being divided into various modules or units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0100] Through the description of the above embodiments, it can be seen that those skilled in the art can clearly understand that the present application can be implemented by means of software plus the necessary general hardware platform. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment of the present application or certain parts of the embodiments.

[0101] Finally, it should be noted that, in this document, relational terms such as first, second, third, and fourth are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0102] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for estimating spatial posture of an adaptive turntable based on multiple code disks, characterized in that: include: For the turntable spatial attitude estimation at each moment, the following operations are performed: Obtain the turntable azimuth angle measurement value fed back by the absolute encoder at the current moment and the turntable pitch angular velocity measurement value fed back by the incremental encoder at the current moment to construct the spatial attitude measurement matrix at the current moment; Based on the spatial attitude measurement matrix at the current moment, the prior estimate of the spatial attitude at the current moment, and the process noise covariance matrix and the observation noise covariance matrix updated and adjusted at the previous moment, the Kalman filter algorithm is used to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk to obtain the estimated value of the turntable spatial attitude at the current moment; The residual is calculated based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial 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, so as to iteratively estimate the turntable spatial attitude at the next moment.

2. The method according to claim 1, wherein The estimated value of the turntable's spatial attitude at the current moment is calculated as follows: Determine a priori estimated value of the spatial attitude of the turntable at the current moment based on the estimated value of the spatial attitude of the turntable at the previous moment; Obtain the updated and adjusted process noise covariance matrix at the previous moment and the covariance matrix at the previous moment to determine the predicted covariance matrix; Obtaining the observation noise covariance matrix that was updated and adjusted at the previous moment, so as to update the Kalman gain matrix at the current moment based on the prediction covariance matrix and the obtained observation noise covariance matrix; Based on the prior estimation value of the spatial attitude at the current moment, the spatial attitude measurement matrix at the current moment, and the Kalman gain matrix at the current moment, the measurement values ​​fed back by the absolute code disk and the incremental code disk are integrated to obtain the estimated value of the spatial attitude of the turntable at the current moment; Based on the predicted covariance matrix and the Kalman gain matrix at the current moment, the covariance matrix at the current moment is updated for calling at the next moment.

3. The method according to claim 2, wherein The prediction covariance matrix is ​​calculated as follows: P t|t-1 =F*P t-1|t-1 *F T +Q t in, Where, P t|t-1 is the prediction covariance matrix, F is the state transfer matrix, F T is the transpose of the state transfer matrix, P t-1|t-1 is the covariance matrix of the previous moment, Q t is the current process noise covariance matrix, P 0|0 is the initial covariance matrix, σ a,θ is the initial azimuth angle error used to characterize the absolute code disk accuracy, σ e,θ is the initial pitch angle error used to characterize the accuracy of the incremental code disk, σ a,ω and σ e,ω are the initial azimuth velocity error and the initial pitch angular velocity error, Δt is the sampling time interval, q a,θ and q a,ω are the azimuth angle integral error and azimuth velocity disturbance of the absolute code disk, q e,θ and q e,ω are the incremental code disk pitch angle integral error and pitch angular velocity disturbance respectively.

4. The method according to claim 2, wherein The estimated value of the turntable's spatial posture at the current moment is determined by the following formula: I t|t =Θ t|t-1 +K t *(Z t -H*Θ t|t-1 ) in, Where, Θ t|t is the estimated value of the turntable space posture at the current moment, Θ t|t-1 is the prior estimate of the spatial attitude at the current moment, K t is the Kalman gain matrix at the current moment, Z t is the spatial attitude measurement matrix at the current moment, H is the observer, θ a,t is the turntable azimuth angle measurement value fed back by the absolute encoder at the current moment, ω e,t is the pitch angular velocity measurement value of the turntable fed back by the incremental encoder at the current moment, ω a,t is the estimated value of the turntable azimuth velocity, θ e,t is the estimated pitch angle of the turntable, Θ 0|0 is the estimated value of the turntable space posture at the initial moment, θ a,0 is the initial azimuth angle of the turntable fed back by the absolute encoder, θ e,0 The initial pitch angle of the turntable fed back by the incremental encoder.

5. The method according to claim 2, wherein The method of calculating a residual based on the spatial attitude measurement matrix at the current moment and a priori estimation value of the spatial 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 forgetting factor at the current moment; Calculate the residual based on the spatial attitude measurement matrix at the current moment and the prior estimation value of the spatial attitude at the current moment; Based on the residual and the Kalman gain matrix at the current moment, the uncertainty error of the residual is calculated, and the covariance change is calculated based on the covariance matrices at the previous moment and the current moment, so as to update and adjust the process noise covariance matrix in combination with the forgetting factor at the current moment, and the process noise covariance matrix is ​​numerically symmetrized and positively definited; The prediction uncertainty error is calculated based on the prediction covariance matrix, and the observation noise covariance matrix is ​​updated and adjusted in combination with the square of the residual and the forgetting factor at the current moment, and the observation noise covariance matrix is ​​numerically symmetrized and positively definited.

6. The method according to claim 5, wherein The uncertainty error of the residual is calculated based on the residual and the Kalman gain matrix at the current moment, and the covariance change is calculated based on the covariance matrix at the previous moment and the current moment, so as to update and adjust the process noise covariance matrix in combination with the forgetting factor at the current moment, and the process noise covariance matrix is ​​numerically symmetrized and positively definite, including: The process noise covariance matrix is ​​updated and adjusted by the following formula: M=K t *e t *e t T *K t T N=(P t|t -F*P t -1|t-1 *F T ) The noise covariance matrix of the process is numerically symmetrized and positively definite: in, is the process noise covariance matrix after initial update adjustment, M is the uncertainty error of the residual, K t is the Kalman gain matrix at the current moment, e t is the residual, N is the covariance change, P t-1|t-1 and P t|t are the covariance matrices of the previous moment and the current moment, F is the state transfer matrix, Q t is the historical process noise covariance matrix, d t is the forgetting factor at the current moment, Q t+1 is the process noise covariance matrix after numerical symmetry and positive definite processing, and ∈I is a small positive definite matrix.

7. An adaptive turntable spatial attitude estimation device based on multiple code disks, used to implement the steps of any of the methods described in claims 1-6, characterized in that: include: The acquisition unit is used to estimate the spatial attitude of the turntable at each moment, and performs the following operations: acquiring the turntable azimuth angle measurement value fed back by the absolute code disk and the turntable pitch angular velocity measurement value fed back by the incremental code disk at the current moment, so as to construct the spatial attitude measurement matrix at the current moment; A fusion unit is configured to fuse the measurement values ​​fed back by the absolute code disk and the incremental code disk using a Kalman filter algorithm based on the spatial attitude measurement matrix at the current moment, the prior estimation value of the spatial 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 an estimated value of the spatial attitude of the turntable at the current moment; An updating unit is used to calculate a residual based on the spatial attitude measurement matrix at the current moment and a priori estimation value of the spatial 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, so as to iteratively estimate the turntable spatial attitude at the next moment.

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 in the memory to implement the steps of any one of the methods described in claims 1-6.

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

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

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