1 results about "Acceleration amplitude" patented technology

This invention provides a method and system for estimating the IMU mounting angle based on an exponential decay function. The method includes: establishing a gyroscope zero-bias estimation model for the vehicle and an accelerometer-gravity projection correlation model in a stationary state; calculating the effective acceleration using an exponential decay function to suppress acceleration amplitudes during cornering, performing trajectory recursion only during straight-line acceleration to obtain the horizontal displacement; calculating the heading mounting angle at each epoch using the displacement vector direction, filtering candidate heading mounting angles using consecutive adjacent angle differences, and verifying the candidate heading mounting angle results through inertial navigation recursion. This invention calculates the roll and pitch mounting angles when stationary and the heading mounting angle through acceleration during motion, achieving integrated estimation of the three mounting angles. It is suitable for initial calibration scenarios of vehicle-mounted inertial navigation, requires no external references such as GNSS or odometers, and acceleration is not limited to the stationary-to-start phase, significantly simplifying the implementation conditions for mounting angle calibration.