78 results about "Attitude and heading reference system" patented technology

The invention discloses a picking method and picking robot device aiming at fruits which are in size of an apple and is similar to a sphere. The picking robot device comprises a mechanical actuating device, control system hardware and control system software. The mechanical actuating device comprises a picking mechanical arm, an underactuated manipulator, an electric sliding table and an intelligent mobile platform, wherein the control system hardware comprises an IPC (industrial personal computer), a motion control card, a data acquisition card, an AHRS (attitude and heading reference system), a coder, a monocular camera, a binocular camera, a force sensor, a slipping sensor and the like. During operation, the IPC fuses information of the coder, the AHRS, monocular camera components and an ultrasonic sensor to enable the mobile platform to independently navigate and avoid obstacles. A binocular vision system collects images of mature fruits and obstacles and extracts the characteristics of the images so as to realize obstacle avoidance of the mechanical arm and fruit positioning. Finally, the IPC fuses the information of the force sensor, the slipping sensor and the position sensor, thereby further reliably gripping the mature fruits and separating the fruits from fruit branches.

The invention provides an attitude estimation method of a maneuvering acceleration-assisted extended Kalman filter (EKF) attitude and heading reference system (AHRS). The state quantity of the EKF contains an error of three attitude angles, a null bias error of a three-axis gyroscope and a three-axis carrier maneuvering acceleration error of a carrier system, and the observed quantity of the EKF contains a three-axis acceleration error and a three-axis earth magnetic field error. A strapdown attitude algorithm and the nine-state EKF algorithm are subjected to data fusion to acquire attitude estimation of the AHRS. A single-axis turntable experiment, a vehicle-mounted dynamic experiment and a flight experiment prove that the maneuvering acceleration-assisted nine-state EKF data fusion algorithm has stable attitude angle accuracy under different maneuvering conditions, and the mean square deviation of the attitude angle can be limited within 2 degrees.

An automated flight control system for an unmanned aerial vehicle (UAV), comprising a flight computer for managing functions related to a flight of the UAV, an application processor for managing functions on the UAV not related to flight, a flight data recorder to record data related to a flight of the UAV, an attitude and heading reference system, a global navigation satellite system receiver, a self-separation module for communicating with another aircraft for the purpose of avoiding a collision, and a wireless communications module for communicating with the remote system, wherein the automated flight control system is capable of receiving operational instructions via the wireless communications module from the remote system.

The invention discloses a pair of data gloves based on a micro-inertial sensor network technique. Each data glove comprises a plurality of micro-inertial sensors mounted in the glove, as well as a data acquisition and control module arranged on a hand back part on the outer side of the glove, wherein each micro-inertial sensor is a small AHRS (attitude and heading reference system), and comprises a triaxial MEMS (micro-electromechanical system) micro-gyroscope, a triaxial micro-acceleration sensor and a triaxial geomagnetic sensor which are packaged in a circuit board; and the micro-inertial sensors are mounted in the glove and correspond to parts between finger joints, and are combined to form a sensor network. The micro-inertial sensors are distributed at independent movement parts of each data glove reasonably, a gesture attitude is worked out based on the attitude and heading resolving principle, and hand gestures are captured in real time with high accuracy. A central embedded type system in each data glove controls and processes data in the sensors, and sends the data to an upper computer in a certain protocol form. The pair of data gloves based on the micro-inertial sensor network technique are convenient to use and not restrained by the light condition.

The invention discloses a hand movement tracking system and a hand movement tracking method. The invention comprises an attitude and heading reference system based on an accelerometer, a gyroscope and a magnetic sensor, and a hand movement tracking method based on the attitude and heading reference system. The hand movement tracking method comprises the following steps: firstly, obtaining a triaxial acceleration measured by the accelerometer, a triaxial angular velocity measured by the gyroscope and a triaxial magnetic-field component measured by the magnetic sensor, performing error compensation on the magnetic sensor by adopting a least square method to establish an error model after an upper computer receives sensor data, eliminating high-frequency noise of the triaxial acceleration by virtue of a window low-pass filter, and establishing an error model for the gyroscope so as to perform error compensation on random drift of the gyroscope; secondly, effectively integrating the gyroscope, the accelerometer and the magnetic sensor by virtue of an improved adaptive complementary filtering algorithm to obtain an attitude angle and a path angle; and finally, performing gravity compensation and discrete digital integration on acceleration signals to obtain a velocity and a track of a hand movement. The tracking system and the tracking method disclosed by the invention can be applied to a man-machine interactive system, is convenient to operate, and is strong in experience feeling.

The invention discloses a method for solving an attitude and heading reference system of a four-rotor unmanned aerial vehicle based on gradient descent. The method comprises the following steps of: acquiring attitude information of a micro four-rotor unmanned aerial vehicle through a gyroscope, an acceleration sensor and a geomagnetic sensor, wherein the gyroscope is used for measuring the angular rate of the micro four-rotor unmanned aerial vehicle, the acceleration sensor is used for measuring the linear acceleration of the micro four-rotor unmanned aerial vehicle, and the geomagnetic sensor is used for measuring magnetic field information of the position where the micro four-rotor unmanned aerial vehicle is positioned; fusing data of the acceleration sensor and the geomagnetic sensor with data acquired by the gyroscope by employing a quaternion update algorithm based on gradient descent, and correcting drift of the gyroscope; and solving the attitude angle information of the micro four-rotor unmanned aerial vehicle by employing a quaternion method. By employing a data fusion method based on the gradient descent method, the drift of the gyroscope data is corrected in real time by fully utilizing the data of the acceleration sensor and the geomagnetic sensor, and three-dimensional attitude angle information is output, so that the system error is reduced, and the attitude measurement accuracy and stability are effectively improved.

The invention discloses a micro attitude and heading reference system based on 3D stereoscopic packaging technology. The system provided by the invention comprises a 3D integrated pedestal which is positioned in a core and is shaped as a hexahedron; the external surface of the 3D integrated pedestal is tightly covered with multilayer rigid-flexible PCB; one side of the multilayer rigid-flexible PCB is equipped with a microprocessor, and other five sides are respectively provided with three single-shaft gyroscopes, a triaxial accelerometer and a triaxial magnetic sensor; one side of the 3D integrated pedestal is equipped with a main device slot, and the microprocessor is embedded inside the main device slot; set screws are mounted at four corners of each surface of the 3D integrated pedestal and are also fixedly connected with corresponding positions of the multilayer rigid-flexible PCB; the 3D integrated pedestal is moulded at one step, and each shaft of the sensor is respectively parallel to each other and mutually orthogonal; various sensors are installed by the adoption of multilayer printed circuit boards so as to minimize the volume of the whole pedestal; the microprocessor is introduced to reach independent operational and data processing functions.

The invention discloses a heading automatic-guiding system based on a camera lens and an attitude and heading reference system. The heading automatic-guiding system comprises a heading machine control module, a laser target surface, a camera lens, an attitude and heading reference system, a data acquisition module, a central processing unit and a laser orientation instrument, wherein the heading machine control module is arranged on a heading machine body, the laser target surface, the camera lens, the attitude and heading reference system, the data acquisition module and the central processing unit are arranged on the heading machine body, the laser orientation instrument is arranged on a heading roadway, the laser orientation instrument is located behind the heading machine body, a laser emission head of the laser orientation instrument is aligned to the center of the laser target surface, the camera lens is projected on the laser target surface, the signal output end of the camera lens is connected with the data acquisition module, the signal output end of the attitude and heading reference system is connected with the central processing unit, the communication end of the data acquisition module is connected with the communication end of the central processing unit, and the control signal output end of the central processing unit is connected with the control signal input end of a heading machine control module. The heading automatic-guiding system disclosed by the invention has the advantages of high guiding accuracy, simpleness in operation, low cost, easiness for implementation, and convenience for popularization.

The invention discloses an unmanned surface vehicle navigation and control teleoperation platform, including a navigation radar, an automatic identification system, an attitude and heading reference system, a rotating speed and rudder angle sensor, a vehicle rudder control module, a yacht-mounted industrial control computer and a shore/mother ship control computer. The shore/mother ship control computer and the yacht-mounted industrial control computer are in bidirectional connection via TCP/IP or UDP protocols. The navigation radar and the automatic identification system are connected with the shore/mother ship control computer through an RS422/485 module. The automatic identification system, the attitude and heading reference system and the rotating speed and rudder angle sensor are connected to the yacht-mounted industrial control computer respectively. The yacht-mounted industrial control computer is connected with the rotating speed and rudder angle sensor through the vehicle rudder control module. The shore/mother ship control computer is connected with an engine telegraph and rudder order sensor based on a sliding resistor, and a rotating speed and rudder angle display module respectively. In the navigation guiding process, data can be traced and system parameters can be automatically identified by the radar, the collision risk between objects around the yacht and the unmanned surface vehicle can be timely analyzed, and the trial ship-operating avoidance scheme is provided.

The invention relates to a detection device for straightness of a scraper conveyer and a detection method. The detection device comprises a data collecting unit, a communication unit, a data processing unit, a data storage unit, an alarming unit and a power supply module. The detection method comprises the following steps: collecting tri-axial accelerated speed, tri-axial angular speed and tri-axial magnetic induction intensity of each section of middle slot (2) in a pushed process of the scraper conveyer by the data collecting unit; acquiring the tri-axial angular speed and the tri-axial accelerated speed into an MEMS (Micro Electro Mechanical System) sensor on each section of middle slot (2) by the data processing unit, performing time integration and then acquiring a tri-axial angle and a tri-axial displacement and recognizing an S curve of the scraper conveyer; adopting a difference method for reducing the tri-axial displacement measurement error; adopting an AHRS (Attitude and Heading Reference System) algorithm and an average method for reducing the tri-axial angular measurement error; establishing a space absolute coordinate system and performing curve fitting, thereby acquiring the curve of the scraper conveyer. The device and the method are beneficial to the efficient and accurate detection for the straightness of the scraper conveyer.

The invention provides a strapdown attitude and heading reference system (AHRS) based on a fiber optic gyro (FOG). The system comprises an inertia measurement unit (1), a navigation calculation unit (2) and a CAN (controller area network) bus communication node unit (3), wherein the inertia measurement unit is used for measuring change information of the angular velocity and inclination angle of a carrier for installing the strapdown AHRS; the navigation calculation unit is used for calculating attitude and heading parameters according to the information measured by the inertia measurement unit (1); and the CAN bus communication node unit is used for transmitting the attitude and heading parameters calculated by the navigation calculation unit (2) to equipment on other CAN buses. The small-sized strapdown AHRS provided by the invention has high integration level.

The invention discloses an indoor pedestrian navigation-oriented AHRS/UWB (attitude and heading reference system/ultra-wideband) seamless integrated navigation method. The method comprises the following steps: dividing the overall navigation method into a training stage and a prediction stage; adopting a difference value between the position and speed information collected by an AHRS and the position and speed information collected by a UWB as observed quantity of a main data fusion filter under the condition that a UWB signal is normal, and predicting the optimal position, speed and attitude error at the current moment; once the UWB signal is unlocked, conveying the position, speed and attitude information output in the AHRS into an artificial intelligence algorithm as prediction input; through the built mapping relationship, predicting an observation vector of the unlocked main data fusion filter, and ensuring normal working of the main data fusion filter, so that seamless navigation of an overall navigation system is ensured.

The invention provides a method for acquiring advancing directions of pedestrians by the aid of mobile terminals without constraints.The method includes acquiring acceleration, angular speeds and earth magnetic field intensity in preset coordinate systems by the aid of the mobile terminals; acquiring heading angles of the mobile terminals in geodetic coordinate systems by the aid of attitude and heading reference systems AHRS according to the acceleration, the angular speeds and the earth magnetic field intensity; identifying mobile terminal carrying modes; correcting the heading angles according to difference between heading of the pedestrians and the mobile terminals in the identified mobile terminal carrying modes so as to obtain the advancing directions of the pedestrians.The method for acquiring the advancing directions of the pedestrians by the aid of the mobile terminals without the constraints has the advantages that movement directions of the pedestrians can be determined by the aid of the mobile terminals, positional relations between the mobile terminals and the pedestrians are free of constraints, in other words, the different mobile terminal carrying modes can be identified by the aid of the method, and accordingly actual action directions of the pedestrians can be acquired according to different conditions; operation procedures are simple, and the method is easy to implement and wide in application.

A miniaturized inertial measurement and navigation sensor device and a flexible, simplified GUI operating in real time are provided to create an optimum IMU/INS. The IMU includes multiple angle rate sensors, accelerometers, and temperature sensors to provide stability device. A navigation GUI tests algorithms prior to embedding them in real-time IMU hardware. MATLAB code is converted to C++ code tailored for real-time operation. Any point in the algorithm suite structure can be brought out as a data channel to investigate the pattern of operation. The data channels permit zooming in on the algorithm's operation for the open-loop angle, velocity and position drift measurements for bias-compensated channels. The GUI can be used to verify results of an extended Kalman filter solution as well as the implementation of the real-time attitude and heading reference system. When the code has been verified, it is compiled and downloaded into a target processor.

The invention belongs to the technical field of inertial navigation and particularly relates to an attitude measuring method suitable for a vehicle fiber AHRS (Attitude and Heading Reference System). In the invention, a low-cost fiber AHRS based on a Kalman filter and a GPS (Global Positioning System) integrated navigation system are adopted to detect and insolate a GPS fault signal and ensure the reliability of a SINS (Ship's Inertial Navigation)/GPS integrated system before the initial alignment of the SINS. After the output of the GPS is effective, the difference values between the coarse angle, the north speed and the south speed output by the SINS with the corresponding information output by a GPS receiver are selected as observation quantities to form a three-dimensional observation equation. In the invention, the calculation speed can be greatly increased to realize the real-time filter calculation. Compared with a combined system using a speed and a position as observation quantities, the navigation accuracy of the vehicle fiber AHRS, particularly the accuracy of an attitude computer is greatly improved.

The invention discloses a high-precision attitude data calculation method for an AHRS (Attitude and Heading Reference System), mainly solving the problems that as an accelerometer and a gyroscope are finite in precisions and have accumulative errors, the obtained attitude data errors are large and cannot meet technical requirements in the prior art. The high-precision attitude data calculation method comprises the following steps of initializing a sensor and a normalized coordinate system transfer matrix; calculating the attitude data and the coordinate system transfer matrix R1 of a carrier at the moment; calculating a coordinate system transfer matrix R2 at the moment; determining a final coordinate system transfer matrix at the moment, and normalizing the final coordinate system transfer matrix, so as to obtain the normalized coordinate system transfer matrix at the moment; solving the attitude data at the moment according to the normalized coordinate system transfer matrix obtained in the step (4); and returning to the step (2), and calculating the attitude data of the next moment. By utilizing the scheme, the high-precision attitude data calculation method is convenient to implement, is high in precision and has very high practical and promotional values.

A method and computer program product for determining the roll rate gyro bias of an attitude and heading reference system from true air speed, heading rate and body accelerations using centripetal force equations.

The invention discloses a vehicle-mounted farm three-dimensional topographical surveying device which comprises a GPS (global position system) receiver, a GPS aerial, an AHRS (attitude and heading reference system) attitude sensor, an absolute encoder, a data collector and a flat shovel of a land scraper. The vehicle-mounted farm three-dimensional topographical surveying device disclosed by the invention has the advantages of high measuring accuracy, high operating efficiency and simpleness in operation, and can be used for precise measurement of three-dimensional topography of dry lands and paddy fields.

In a GPS-supported inertial attitude and heading reference system equipped with a Kalman correction filter and a multiple axis fiber optic gyroscope, the invention provides for only that scale factor error which is determined for the measurement axis (e.g. the vertical axis) with relatively fast motion dynamics to be used as the Kalman filter correction value for the scale factor error correction for all the measurement axes of the FOG to determine and compensate for the scale factor error caused by changes in the wavelength of a common light source. The scale factor error correction is used only with a long time constant.

The invention discloses a method for detecting a course of a mobile terminal. The method comprises the following steps: obtaining an accelerated speed, an angular speed and geomagnetic field intensity of the mobile terminal in a pre-set coordinate system through an accelerometer, a gyroscope and a magnetometer in the mobile terminal respectively; obtaining a rotary matrix of the mobile terminal through an attitude and heading reference system according to the accelerated speed, the angular speed and the geomagnetic field intensity of the mobile terminal in the pre-set coordinate system; projecting the accelerated speed of the mobile terminal in the pre-set coordinate system to an earth-fixed coordinate system according to the rotary matrix of the mobile terminal, so as to obtain data of the accelerated speed in the horizontal plane in the earth-fixed coordinate system; carrying out main component analysis according to the data of the accelerated speed in the horizontal plane in the earth-fixed coordinate system; extracting a straight line of a maximum accelerated speed change within pre-set time, so as to obtain the course of the mobile terminal. The invention further discloses a device for detecting the course of the mobile terminal. The course of the mobile terminal can be determined, without the need of fixing the mobile terminal disclosed by the invention at a fixed holding posture.

The invention relates to crane jib attitude and heading reference system calibration and initialization. Methods and apparatus are provided for calibrating and initializing/aligning an attitude and heading reference system of a crane jib. Magnetometer measurements are generated using a magnetometer that is attached to the crane jib, while crane jib maneuvers are performed including crane jib slewing. The magnetometer measurements are supplied to a processor that is configured to generate magnetometer calibration parameters using the magnetometer measurements and to initialize and align a plurality of filters.

The invention discloses a high-precision calibration method for accelerometers in an AHRS (attitude and heading reference system) without using a turntable, which gives a high-precision calibration method for sensor accelerometers in an AHRS under the condition of without a turntable but only with the aid of a horizontal desktop. According to the invention, the calibration of coefficients such as zero-offset, scale factors, installation errors and the likes of an accelerometer can be completed just by using a horizontal desktop without using other auxiliary equipment. The method disclosed by the invention has the biggest advantage that the method is implemented without the aid of the turntable; and the method is high in precision and simple in operation, and greatly improves the efficiency of calibration under the condition of not affecting the precision of the AHRS.

A control unit disposed in the cab of an off-road vehicle includes a user interface; an attitude and heading reference system and a housing. The attitude and heading reference system includes a processor and at least one of a positioning receiver, magnetometer, compass, gyro and accelerometer electrically connected to the processor. The housing is sized to be fittingly received in a pre-existing DIN slot in the cab of the off-road vehicle.

The invention discloses a miniature AHRS (Attitude and Heading Reference System) module. The miniature AHRS module comprises an AHRS, wherein the AHRS comprises a gyroscope, an accelerometer, an MCU (Micro Control Unit) and a magnetic compass; the output ends of the gyroscope, the accelerometer and the magnetic compass are respectively connected with the MCU; and according to the installation mode, the gyroscope, the accelerometer and the magnetic compass are parallel to a coordinate axis of a carrier coordinate system. The invention also provides a method for improving the accuracy of the miniature AHRS module. According to the miniature AHRS module and the method provided by the invention, the problem of singularity of quaternion covariance is solved, and data fusion is carried out by an extended Kalman filter so as to obtain accurate output of attitude; 360-degree all-directional output of the attitude and the heading in the three-axis direction can be achieved, the static accuracy of the attitude and heading data is less than 0.5 degree, and the dynamic accuracy of the attitude and heading data is less than 2 degree; an internal sensor has an automatic correction function, and can carry out automatic compensation correction on interference of temperature drifts, noises and external magnetic fields of the sensor; and the miniature AHRS module has the characteristics of ultralong-time stability and fast dynamic response.