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

This invention relates to an attitude calculation method for an unmanned aerial vehicle (UAV) attitude reference system, belonging to the field of UAV navigation. In this invention, the collected sensor data is first filtered to obtain an initial unit quaternion from the navigation coordinate system to the vehicle coordinate system. The accelerometer output is normalized and an error vector is constructed with the normalized gravity vector. The vehicle motion mode is determined by the accelerometer and gyroscope outputs, and the gain coefficient is adaptively adjusted to calculate the gyroscope error correction, thus completing the attitude update and correcting the horizontal attitude. Simultaneously, the magnetometer output is evaluated; if the magnetometer output is valid, the heading angle is corrected, and the corrected three-axis attitude angles are output in real time. This invention uses only quaternions for calculation, avoiding the calculation of rotation matrices and improving calculation efficiency. Compared to traditional complementary filtering algorithms, it incorporates vehicle motion mode judgment and adaptive complementary filter parameter adjustment, avoiding erroneous attitude corrections by the accelerometer under high dynamic conditions. By applying a second-order complementary filter to process accelerometer and magnetometer data for attitude compensation, horizontal attitude correction can be avoided when magnetometer data is unavailable, achieving decoupling of attitude correction.

The invention provides an MARG attitude and heading estimation method based on adaptive weight distribution, and aims to improve attitude estimation precision and stability in a complex dynamic environment. According to the method, original data of a magnetometer sensor, a gyroscope sensor and an accelerometer sensor are processed through multi-sensor fusion, and the method comprises the steps of error correction, soft iron and hard iron distortion compensation and the like. Then dynamically adjusting the weight of each sensor according to the real-time fluctuation condition of the sensor data by utilizing a self-adaptive weight distribution algorithm, and dynamically adjusting a stepping factor according to the historical attitude information; according to the method, the reliability of sensor data is analyzed, and the multi-source information is subjected to weighted fusion processing, so that the method has relatively high stability and robustness in a complex motion or strong interference environment; the calculation process can be simplified while high precision is kept, so that time delay and resource consumption are reduced. The method can be applied to the fields of aerospace, automatic driving, virtual reality and the like, and conforms to the development trend of military and civilian fusion.

The application relates to a MEMS strapdown attitude and heading reference system, which comprises a cover plate, a main board, a power supply board, a capacitor, a socket, an inertial measurement unit, a shell and a magnetic heading sensor component; the shell is sealed by the cover plate; the power supply board and a plurality of main boards are sequentially and parallelly arranged from bottom to top in the shell; the inertial measurement unit and the magnetic heading sensor component are arranged in the shell cavity; the full-damping information fusion technology in the application improves the attitude and heading precision of the strapdown attitude and heading reference system by fusing the data of the magnetic heading sensor, the atmospheric machine speed, the satellite position and the added specific force; the flexible circuit with the lightning protection function enhances the external interface and the power supply lightning environment adaptability, the circuit board folding precision installation technology is adopted to expand the interface, enrich the external interface, improve the system external interface redundancy and system integration; the IMU precision installation technology determines the reference datum of the product azimuth measurement and the horizontal attitude measurement, and is also important for the product accurate calibration.