133 results about "Euler angles" patented technology

The invention relates to the technical field of intelligent sensing and data fusion, in particular to a real-time motion guidance and error correction method and system based on multi-source data analysis, and the method comprises the following steps: S1, synchronously collecting the motion data of a user through a hardware-synchronized multi-source sensing network, completing the timestamp alignment and standardization processing of the multi-source data, and obtaining the motion data of the user; outputting standardized motion data with a unified time sequence; and S2, performing multi-sensor data fusion processing on the standardized motion data, and reconstructing three-dimensional human body joint posture data based on a state estimation algorithm. Through a time sequence mode recognition algorithm, in combination with various motion data such as joint Euler angles and angular velocities, accurate recognition is performed on different motion stages, through recognized stage labels, a user personalized model is called to dynamically generate an evaluation threshold value of the current stage, then motion deviation diagnosis is performed, and the accuracy of motion deviation diagnosis is improved. The problem caused by the fact that the motion stages cannot be distinguished due to the fact that a fixed threshold value is used is effectively solved, and adaptability and accuracy of posture deviation diagnosis are remarkably improved.

The invention discloses a seven-degree-of-freedom mechanical arm trajectory planning method based on null space optimization, relates to the technical field of mechanical arm intelligent control, and aims to solve the problems that an existing mechanical arm trajectory planning method easily causes sudden posture change and affects trajectory continuity and motion stability when Euler angle velocity is adopted for posture planning. According to the method, the Jacobian matrix is adopted for operation without depending on a complex inverse kinematics calculation process, and the method can be suitable for redundant mechanical arms of any configuration; according to the method, the tail end trajectory is planned in a pose matrix mode, joint layer optimization is achieved through a null space formed by redundant freedom degrees, pose sudden change easily caused when the Euler angle velocity is adopted for pose planning is avoided, and the continuity and motion stability of trajectory planning of the mechanical arm are improved.

The invention discloses an Internet of Vehicles channel modeling method considering antenna attitude vibration, and the method comprises the steps: building an accurate vibration model of an antenna three-dimensional attitude through precisely modeling vehicle body tiny vibration caused by bumping, steering and other factors in vehicle driving into micro-motion of an antenna attitude at three time-varying Euler angles of pitching, rolling and yawing; the time-varying attitude is introduced into a coordinate system rotation matrix, the random vibration characteristic parameterization of the antenna in a three-dimensional space is realized, and then the random vibration characteristic parameterization is coupled to the evolution of key parameters of a channel model, so that the channel rapid fluctuation and beam mismatch effect caused by the antenna attitude jitter can be more accurately reproduced; the method can effectively solve the problems that in the prior art, due to the fact that microcosmic vibration of an antenna is ignored, the fidelity of a model is low, and characterization of a key beam mismatch effect in millimeter wave communication is seriously insufficient, and can provide theoretical basis and data support for performance evaluation and beam management algorithm design of a high-dynamic and high-reliability car networking system.

The invention relates to the technical field of array antennas, in particular to a sparse linear array beam forming method and system with unit rotation and mutual coupling considered. Array elements are obtained, Euler angle derivation is carried out on rotation of the array elements around the z axis, and a radiation electric field after rotation is obtained; setting a beam forming target according to the electric field of the radiation field; according to a beam forming target, optimizing the position, the rotation angle and the excitation phase of an array element by adopting a random optimization algorithm, and generating an initial beam scheme; an active directional diagram is extracted from the initial beam scheme according to full-wave simulation, the active directional diagram is combined with a CAL-SAPSO algorithm to optimize the array element position, the rotation angle and the excitation phase, and a final array element directional diagram is generated; according to the invention, by introducing array element rotation and considering a mutual coupling effect, efficient beamforming of the sparse wiring array is realized, the radiation characteristic of the antenna array can be adjusted more finely, the peak side lobe level and the cross polarization level are effectively reduced, and the overall performance of the system is improved.

The invention provides a cradle head double-loop control method based on multi-coordinate system cooperation, a cradle head, an unmanned aerial vehicle and a product. The method comprises the following steps: converting a first target compensation angular velocity into a second target compensation angular velocity under a cradle head motor coordinate system; inputting the second target compensation angular velocity into an FOC velocity ring to obtain a Q-axis basic current; obtaining a target attitude and a feedback attitude of the cradle head, calculating a first target Euler angular velocity, and converting the first target Euler angular velocity into a second target Euler angular velocity under a cradle head pod coordinate system; calculating a first target angular acceleration based on the second Euler angular velocity, and converting the first target angular acceleration into a second target angular acceleration under a pan-tilt motor coordinate system; calculating a dynamic moment and a gravity static moment to obtain a total moment; and calculating a Q-axis compensation current according to the total moment. And outputting a Q-axis current instruction to an FOC current loop according to the Q-axis basic current and the Q-axis compensation current. According to the invention, the control precision and response speed of the holder in a high-dynamic scene are improved.

The invention discloses an IMU (Inertial Measurement Unit) drift error calibration method for long-term attitude measurement of an industrial robot. The IMU drift error calibration method comprises the following steps: deducing a pose matrix between a robot base coordinate system and a navigation coordinate system; deriving a pose matrix between a robot tail end coordinate system and a sensor body coordinate system; kinematics modeling is conducted on the industrial robot, and motion parameters are obtained; deriving a homogeneous transformation matrix between two adjacent joints according to the kinematic parameters; acquiring actual joint corner information when the robot runs and actual information measured by a tail end IMU when the robot runs; wherein the actual information of the IMU comprises actual angular velocity information and actual attitude information; the collected actual joint rotation angle information is substituted into the homogeneous transformation matrix, theoretical attitude information of the tail end of the robot is obtained, and the theoretical attitude information is converted into a navigation coordinate system; converting the theoretical attitude information converted into the navigation coordinate system into an Euler angle; designing a Kalman filter; according to a Kalman filter, data fusion of theoretical attitude information and actual attitude information is completed, and calibration is achieved. According to the method, joint angle information, the industrial robot end theoretical attitude obtained through forward kinematics calculation of the kinematics model and actual attitude data obtained through IMU measurement are fused, and accumulated error calibration formed in long-term attitude measurement of the IMU is achieved.

The invention relates to the technical field of attitude estimation, in particular to an attitude estimation method in a magnetic interference environment, which comprises the following steps of: obtaining a conversion relation between an Euler angle and a quaternion; calculating the quaternion at the next sampling moment; respectively solving a first state transition matrix, a first process noise matrix and a first prior covariance according to the first state equation; respectively solving a second state transition matrix, a second process noise matrix and a second prior covariance according to a second state equation; elements in the nb-series rotation matrix are used as observed quantities of state variables in the parameter-series rotation matrix, a corresponding Kalman gain is calculated, and a Jacobian matrix is designed by using the observed quantities; calculating an observation noise covariance matrix by using the Jacobian matrix; updating the Kalman gain by using the observation noise covariance matrix; and updating the state equation and the posterior covariance by using the updated Kalman gain and the observed quantity. The method solves the problem of how to prevent the calculation of the roll angle and the pitch angle from being influenced by magnetic interference when the magnetic interference exists.

The invention relates to a shaft system response calculation method considering gyroscope bending-torsion coupling, which comprises the following steps: establishing a gyroscopic effect model based on the gyroscopic effect and Euler angle decomposition absolute angular velocity of a rotor; hydraulic excitation and coupling torque generated by the hydraulic excitation are calculated; the total kinetic energy and the total potential energy of the shaft system including the gyroscopic effect are calculated, and a dynamic response model of the shaft system of the water-turbine generator set is established based on the Lagrange equation. According to the method, a bending-torsion coupled vibration nonlinear mathematical model containing a gyroscopic effect and hydraulic excitation is constructed, the influence of the gyroscopic effect on shafting vibration characteristics, the hydraulic excitation and coupling torque generated by the hydraulic excitation are considered, and total kinetic energy and total potential energy containing the gyroscopic effect are integrated; the problem that vibration coupling factors are not fully considered in the prior art is solved, and the shaft system power precision of the water-turbine generator set is improved. The method has important practical significance for preventing major vibration accidents of the hydropower station, and the operation stability of the water-turbine generator set can be improved.

The invention relates to the technical field of radio frequency filters, in particular to a 13GXBAR filter design method based on a lithium niobate film. The Euler angle of the lithium niobate thin film is subjected to simulation setting in finite element simulation software, admittance responses under different cutting angles are obtained, an admittance curve with a large electromechanical coupling coefficient and complete stray mode suppression is obtained, the tangential angle is used for simulating an electrode material, the interdigital logarithm, the interdigital distance, the thin film thickness and the metallization ratio, and an admittance curve with a large electromechanical coupling coefficient and complete stray mode suppression is obtained. The method comprises the following steps of: constructing a plurality of resonators, obtaining impedance of each resonator, obtaining material parameters of the corresponding resonator, constructing a three-dimensional force-electricity coupling model of the lithium niobate resonator, carrying out layout design on the physical model in finite element simulation software through a field-circuit coupling method, and coupling force-electricity-sound multi-physical fields to obtain an S parameter curve of the designed XBAR filter; and whether the S parameter result is consistent with the target is verified, so that the forward design of full-simulation driving is realized.

The invention discloses an unmanned aerial vehicle positioning method and device based on an oblique photography model and a storage medium, and the method comprises the steps: obtaining a three-dimensional coordinate system for constructing the oblique photography model, and the oblique photography model comprises a model original point; converting real-time coordinate information acquired by the unmanned aerial vehicle into a three-dimensional coordinate system to obtain three-dimensional coordinates; determining a three-dimensional attitude angle of the unmanned aerial vehicle in the three-dimensional coordinate system according to the Euler angle obtained by the unmanned aerial vehicle; and determining a target pose parameter of the unmanned aerial vehicle according to the three-dimensional coordinate and the three-dimensional attitude angle. According to the scheme, the positioning efficiency of the unmanned aerial vehicle can be improved.

The invention discloses an aircraft control method based on barometric altitude compensation and attitude calculation of dual-sensor fusion, and the method comprises the steps: carrying out the temperature compensation and attitude calculation through collecting the data of a barometric sensor and an inertial measurement unit, and obtaining an original altitude and an Euler angle; processing the original height based on an alpha-beta filter to obtain an air pressure estimation height, and calculating an inertial navigation height and a vertical speed through attitude conversion integral; a self-adaptive complementary filtering strategy is adopted, the fusion weight is dynamically adjusted according to the air pressure estimation height variance, the high-frequency inertial data and the low-frequency air pressure data are fused, and accurate fusion height and vertical speed are output; finally, constructing a cascade controller, and calculating a target vertical speed instruction by an outer ring according to the expected height deviation; the inner ring generates an actuator signal based on the deviation to drive a motor; height stable control is achieved, so that drifting is effectively restrained, the precision and the response speed are improved, and reliable height control of the aircraft under vibration or air pressure changes is achieved.

The invention discloses a freight spaceship reentry recovery attitude cooperative control method. The method comprises the following steps: S1, determining key attitude indexes in a freight spaceship reentry recovery process; s2, collecting atmospheric environment parameters in a reentry process, and meanwhile, obtaining earth gravitational field distribution data to provide environment input for a subsequent attitude control algorithm; s3, based on the Newton's second law and the Euler equation, establishing a kinetic model of the freight spaceship, establishing an attitude kinematics model by adopting a quaternion method or an Euler angle method, and establishing an execution mechanism model for a propulsion system of the freight spaceship; through sub-filter local estimation and main filter global weighting, noise and abnormal values are effectively filtered, attitude estimation precision is improved, instruction distribution adopts a pseudo-inverse method in combination with a weighted least square method, an initial instruction is obtained through the pseudo-inverse method, then secondary optimization is performed in combination with execution mechanism constraints, instruction oversaturation is avoided, and attitude estimation accuracy is improved. Extra redundant execution mechanisms are not needed, and the hardware cost is reduced.

The utility model provides a kind of analytical modeling method of model measuring point three-dimensional coordinates and Euler angle, the utility model is suspended under crossbeam by crane by scanning workpiece, solve the deformation problem of large thin-walled part different from its working posture due to the workpiece to be scanned by gravity, scanner is installed at the end of manipulator, realize all-around scanning to workpiece, according to the distance signal of scanner to control the scanning distance between scanner and workpiece to be scanned, solve the fatigue of operator long time handheld scanner, while can stably keep scanner and workpiece to be scanned directly optimal scanning distance, the utility model can satisfy the automatic scanning of different size sheet metal parts in whole vehicle reverse engineering, solve the deformation problem of large sheet metal part different from its working posture due to gravity when being placed on traditional scanning platform, while three-dimensional coordinates and Euler angle of measuring point in whole vehicle crash test and body-in-white modal test can be obtained quickly, improve scanning efficiency, shorten reverse engineering cycle etc.

The present disclosure provides a method for determining the pose of an optical master hand, a surgical robot system. The determination method comprises: acquiring current quaternion data of the optical master hand at the current time; based on the current quaternion data and historical quaternion data of the optical master hand at a plurality of historical time points before the current time, determining a target quaternion data set; based on the target quaternion data set, determining a first quaternion matrix, the first quaternion matrix comprising the target quaternion data set, a target velocity set of the target quaternion data set, and a target acceleration set of the target quaternion data set; embedding the first quaternion matrix into a high-dimensional space to obtain a second quaternion matrix; performing position encoding on the second quaternion matrix to obtain a third quaternion matrix; based on the third quaternion matrix, using a network model to determine a target quaternion matrix with a dependency relationship; based on the target quaternion matrix, obtaining a target Euler angle, the target Euler angle representing the pose of the optical master hand at the current time.

The present disclosure provides a gait analysis method and system, and an apparatus for improving a walking obstacle. The method includes: acquiring three-axis acceleration data and three-axis angular velocity data collected by an inertial sensor, and acquiring pressure data collected by a pressure sensor; performing a quaternion operation on the three-axis acceleration data and the three-axis angular velocity data to acquire three-axis acceleration and a three-axis Euler angle corresponding to a ground coordinate system; identifying a swinging state and a stationary state of feet based on the three-axis acceleration data and the pressure data; analyzing based on the three-axis acceleration, the three-axis Euler angle, and the swinging state and the stationary state of the feet to acquire gait parameters related to a straight walking process, a turning processing, a feet to ground angle, and a feet tremor; and uploading the gait parameters to a server.

The invention discloses a method and system for determining anisotropic thermoelectric performance of a material based on tensor inversion, and the method comprises the steps: obtaining an Euler angle of a single crystal or texture polycrystalline sample in any orientation through electron back scattering diffraction, and building a rotation matrix between a sample coordinate system and a crystal coordinate system; measuring thermoelectric parameters such as resistivity, thermal conductivity and / or Seebeck coefficient under the sample coordinate system; and constructing a linear equation set based on a second-order tensor rotation formula, and inversely solving an intrinsic thermoelectric tensor component under a crystal coordinate system. According to the method, the intrinsic anisotropic thermoelectric performance of the material along the crystal main axis can be accurately obtained without strict crystal orientation cutting, and the method has the advantages of being high in universality, high in precision, easy and convenient to operate and the like and is suitable for high-throughput characterization of complex crystal system materials and device optimization design.

The invention discloses a non-strapdown magnetic pod magnetic compensation method and system, and the method comprises the steps: S1, installing a non-strapdown pod, connecting the pod with a carrier through a rotatable damper, and respectively installing a three-axis magnetometer and an attitude sensor on the pod and the carrier; s2, the carrier performs complete magnetic compensation action in a uniform and magnetically quiet region, so that the three Euler angles are fully changed; s3, calculating the displacement of the scalar magnetometer according to the measured Euler angles of the carrier and the pod; s4, according to the displacement of the scalar magnetometer, measuring a geomagnetic field Heb in a carrier coordinate system, measuring a geomagnetic field Hep in a pod coordinate system, and calculating a dependent variable vector; s5, measuring a geomagnetic field Hep according to a scalar magnetometer measurement value h and a pod coordinate system, and calculating an independent variable vector; s6, obtaining a model coefficient by using a linear fitting method; and S7, calculating a carrier interference magnetic field, and eliminating carrier interference to obtain a compensated magnetic field. According to the invention, through a magnetic interference compensation model and a solving method, magnetic compensation in the field of magnetic detection is realized, and magnetic signal noise is reduced.

The invention relates to a self-adaptive all-attitude heading estimation method taking a portable terminal as a carrier, which adopts two groups of Euler angles to represent the attitude of the portable terminal, solves the problem of singular value existing in a single representation method, and can correctly solve the heading angle of the equipment under the condition that any pedestrian carries the terminal equipment. An EKF algorithm based on quaternion is adopted for attitude updating, then quaternion is directly converted into two groups of Euler angles, data of an accelerometer and a magnetometer are fused in the method, calibration is provided for attitude updating, and compared with a method for performing attitude updating on the two groups of Euler angles, the precision is higher, and the reliability is higher; the course angles in the two groups of Euler angles are fused by using the adaptive factor, and frequent attitude switching is not needed, so that the condition that the attitude of the portable terminal equipment is changeable during use is better met; through a weight distribution method, the situation of numerical jump of the final output course angle is optimized, and the precision and stability of the result are ensured.

The present disclosure discloses a solving method and system for an Euler angle attitude. The solving method includes: acquiring a rough rotation angle ΔT of a tool surface of a drilling tool in a search interval; performing calculation according to the rough rotation angle ΔT to obtain a variation range RangeT of the tool surface; disposing a plurality of particles within the variation range RangeT, corresponding position coordinates of the particles to an Euler angle value, randomly generating initial speeds of the particles, calculating a fitness function of each particle, and selecting the particle with the minimum fitness function as an optimal particle; updating a speed and a position of each particle, and gradually moving the particles closer to an optimal position by adopting an iteration method; and after performing n iterations until the precision of the fitness function of the optimal particle reaches a threshold.

The invention provides a binocular vision bolt pose measurement method and system based on a camera random included angle, and relates to the technical field of computer vision and industrial automation detection, and the method comprises the steps: constructing and training a bolt detection model, detecting a bolt in an image, shot by a binocular camera, of a to-be-measured bolt, and generating a rotating frame taking the preset position of the bolt as a center, substituting parameters of the rotating frame into a pre-constructed overdetermined equation set and a pre-constructed nonlinear equation set, and respectively calculating the coordinates of the preset position of the bolt in the world coordinate system and the attitude angle of the axis of the bolt in the world coordinate system. According to the method, the random included angle of the camera, namely the Euler angle of the camera in a world coordinate system, is explicitly modeled, the installation deviation is directly compensated in a projection constraint equation, and systematic errors caused by assuming that the camera is installed in parallel in a traditional method are avoided. Under the condition that a camera has a random installation included angle, stable calculation of the bolt space position can still be achieved, and the position precision reaches the millimeter level.

The invention relates to the technical field of deep mineral detection, and discloses a deep mineral rapid detection method based on multiband spectrum fusion, which comprises the following steps: step 1, building a detection system; 2, carrying the detection system on a detection platform, and synchronously collecting three types of spectral data and course angle, pitch angle, roll angle and speed parameters; step 3, data preprocessing; and step 4, a cross-modal fusion module realizes alignment of three types of data through cross-modal feature matching, and then weighted fusion is carried out. According to the deep mineral rapid detection method based on multi-band spectrum fusion, an attitude sensing module collects a course angle, a pitch angle, a roll angle and speed parameters in real time, a data preprocessing module cooperates with a cross-modal fusion module, and an attitude correction matrix is constructed based on Euler angle transformation to carry out geometric correction on multi-band spectrum data; the detection platform advances according to a preset height and speed working condition, a high-precision inertial navigation system is not needed, and the cost and the detection precision are both considered.

The application discloses a robot hand-eye error compensation method, a compensation system and a robot. The method comprises the following steps: performing hand-eye calibration on the robot to obtain a standard hand-eye matrix, which comprises a standard rotation matrix and a standard translation vector; running an end execution module of the robot to a preset introspection observation position, and identifying a reference mark fixedly installed in a field of view to determine a reference center space coordinate and a reference Euler angle corresponding to the reference mark; according to a preset rule, triggering the following introspection compensation operation: running the end execution module to the introspection observation position to determine a current center space coordinate and a current Euler angle; calculating a three-dimensional translation error vector according to the center space coordinate; calculating an Euler angle deviation vector according to the Euler angle; weighting and compensating the standard translation vector by using the translation error vector to obtain a new translation vector, and weighting and compensating the standard rotation matrix by using the Euler angle deviation vector to obtain a new rotation matrix, so as to update the standard hand-eye matrix.

The application relates to a configuration design method of a three-dimensional orbiting sail with posture stability, and belongs to the field of spacecraft attitude dynamics and structure design.The application is realized by the following method: considering the environmental perturbation of atmospheric resistance, atmospheric resistance moment and gravity gradient moment, an orbit attitude coupling dynamics model of a three-dimensional orbiting sail system is established based on a position vector and Euler angles; the three-dimensional orbiting sail and a spacecraft body are regarded as rigid bodies, and the windward area is considered to be blocked by airflow so as to more accurately describe the orbit movement and attitude movement of the system in the orbiting process; the attitude movement is simplified for the attitude dynamics of the system; the attitude stability of the system in the orbiting process is analyzed by using a phase plane method, a Lyapunov energy function method and other stability analysis methods of nonlinear dynamics systems; the relationship between important structure parameters such as a cone angle and a support rod length of the three-dimensional orbiting sail and the attitude stability is further constructed; and the three-dimensional orbiting sail satisfying the preset attitude stability requirement is obtained based on the relationship, so that the configuration design is realized.

This invention discloses a binocular vision hand-eye calibration method based on two-layer nonlinear optimization. The method first establishes the hand-eye matrix equation and solves for the initial values ​​of the hand-eye matrix using the linear least squares method. Secondly, it addresses the rotation component R in the hand-eye matrix. h2e Euler angle transformation is performed to ensure the orthogonality of the rotation matrix R. Then, an optimized model H1 of the hand-eye matrix is ​​constructed, and the initial values ​​of the hand-eye matrix are optimized for the first time using the traditional LM nonlinear optimization method to obtain the hand-eye matrix after the first optimization. Finally, the optimized model H1 of the hand-eye matrix is ​​corrected to obtain the second optimized model H2. Then, the LM nonlinear optimization method with sample selection is added to optimize the hand-eye matrix after the first optimization for the second optimization to obtain the second optimized hand-eye matrix. In view of the problem of insufficient accuracy of traditional hand-eye calibration methods, this method can reduce the influence of random errors in robot monocular vision systems and improve the calibration accuracy of robot hand-eye matrix.

The application discloses an indoor mapping method based on a SLAM single-line radar and an inertial measurement unit, and comprises the following steps: step 1, acquiring point cloud data sets measured by the single-line radar and Euler angle pose data corresponding to each point cloud data and measured by the inertial measurement unit; step 2, correcting the pose of the point cloud data sets based on the Euler angle obtained in step 1 to obtain point cloud data after pose correction; step 3, constructing a preliminary indoor building plane point cloud map by using the point cloud data after pose correction; and step 4, fitting a two-dimensional line frame based on a least square method segmented linear function, fitting a segmented straight line for the point cloud data after pose correction in step 2, and finally obtaining a precise indoor building plane line frame standard layout map. The application solves the problem that different coordinate systems lead to complex data processing, and overcomes the problem of point cloud data distortion of the single-line radar in a complex environment by detecting the Euler angle of the single-line radar through the inertial measurement unit.

A composite substrate includes a support substrate made of Si, a high acoustic velocity material layer, a low acoustic velocity film, and a piezoelectric layer. In Euler angles (φ, θ, ψ) of the Si, φ and θ are within regions indicated by hatching with slant lines in FIG. 4. An acoustic wave device includes an IDT electrode in contact with the piezoelectric layer of the composite substrate.

The application provides a robot posture quantitative intuitive demonstration instrument, and belongs to the field of robot instruments; the robot posture quantitative intuitive demonstration instrument comprises a rack, a double parallelogram mechanism, a fixed coordinate system seat, a motion coordinate system seat, three motors and a control system; the double parallelogram mechanism is adopted to realize three degrees of freedom of rotation of the motion coordinate system seat at the end of the demonstration instrument around the fixed coordinate system seat; since the origin of the motion coordinate system seat and the origin of the fixed coordinate system seat always coincide, the posture transformation between the two coordinate systems can be intuitively demonstrated; the structure is simple and compact, the manufacturing cost is low, and the posture transformation demonstration effect can intuitively display Euler angles, RPY angles and the like.

The invention provides an earth-moon space target tracking attitude guiding method, electronic equipment and a storage medium, and the method comprises the steps: responding to a singular point recognized by a satellite, and sequentially switching a current attitude Euler angle rotation sequence used for describing the attitude of the satellite; taking a unit vector of the satellite pointing to the earth-moon space target under the inertial system as a target vector, and obtaining a target rotation angle by adopting a current attitude Euler angle rotation sequence according to a load pointing constraint axis; constructing a guide target inertial system attitude matrix corresponding to the target rotation angle according to the current attitude Euler angle rotation sequence; according to the attitude matrix of the inertial system of the guide target and the transfer matrix from the inertial system to the satellite, calculating the transition attitude and guide angular velocity of the satellite relative to the earth-moon space target under the target reference system; and controlling the satellite to carry out attitude adjustment according to the transition attitude and the guide angular velocity so as to enable the satellite to continuously track the target. On the basis of the mode, continuous tracking during wide-angle attitude maneuver can be ensured, and the directional requirement of any axial load of a satellite can be met.

The invention provides an EKF attitude resolving method and system based on a rotation matrix and gravitational acceleration, and the method comprises the steps: reading data of an inertial measurement element, calculating an initial Euler angle, and converting the initial Euler angle into a quaternion; performing prediction updating through a quaternion differential equation according to gyroscope data and the latest quaternion, calculating and assigning a priori state vector through a quaternion gravitational acceleration extraction formula based on the predicted and updated quaternion, and assigning accelerometer data to a measurement matrix; jacobian matrixes A and W of a state transition equation are calculated according to gyroscope data and a gravitational acceleration differential equation derived based on a differential equation of a rotation matrix, Jacobian matrixes H and V are calculated according to a measurement equation, and then a posterior state vector and a posterior covariance matrix are calculated; and calculating a roll angle and a pitch angle according to the posterior state vector, and calculating a course angle according to the predicted and updated quaternion. According to the invention, EKF divergence can be avoided, and the anti-interference capability is high, so that the attitude calculation precision is ensured.

The invention provides a combined navigation method and device based on NHC / pseudo-speed double-rate updating, and the method comprises the steps: carrying out data preparation and preprocessing when a GNSS signal is available, and replacing an Euler angle with an attitude quaternion as a model input feature; constructing a CNN-GRU-Attention hybrid model based on a quaternion representation attitude, which is called as a CGAq model and is used for predicting a position increment; training the CGAq model by using a training set, and storing an optimal model; when a GNSS signal is interrupted, using the optimal model to predict a position increment, and converting the position increment into a pseudo speed observation value; and performing dual-rate filtering update, in which incomplete constraint NHC update is performed at a first frequency and pseudo-velocity measurement update is performed at a second frequency, to achieve high-precision positioning in a GNSS signal interruption scene.