Attitude Estimation Using Six-Axis Sensor Fusion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current attitude estimation apparatuses for vehicles, such as motorcycles, face challenges in achieving high estimation accuracy for roll and pitch angles due to limitations in detecting multiple axes of angular velocities and accelerations, leading to inaccuracies in controlling lighting and navigation systems.
Innovation Solution
An attitude estimation apparatus that includes multiple angular velocity and acceleration detection units to capture data across six axes, utilizing a Kalman filter and offset error estimation to improve accuracy, and further incorporates load, suspension stroke quantity, elevation/depression angle, and slope estimation units to enhance precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple angular velocity and acceleration detection units are used to detect six axes, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent combines multiple detection units (three angular velocity detection units and three acceleration detection units) into an integrated detection system that shares common processing resources and coordinate transformation algorithms, reducing overall system complexity while maintaining six-axis measurement capability
Solution Approach 2:
The detection units are designed with universal functionality where the same processing algorithms and coordinate transformation methods are applied across all six axes, allowing a single processing framework to handle multiple measurement types simultaneously
2Measurement precision
If offset error estimation is implemented for detection units, then measurement precision is improved, but calculation process complexity increases
Solution Approach 1:
The patent implements feedback mechanisms where estimated offset errors are continuously fed back to correct detection unit readings in real-time, improving measurement precision through iterative refinement of accuracy parameters
Solution Approach 2:
The system dynamically adjusts detection parameters by estimating and compensating for offset errors, transforming fixed calibration values into adaptive parameters that change based on detected conditions to maintain high precision
Data Source
AI summary
An attitude estimation apparatus includes an attitude estimation unit for estimating the roll angle and pitch angle of a movable body and for using a calculation process to estimate an offset error for at least one of first, second and third angular velocity detection units and first, second and third acceleration detection units. The attitude estimation unit estimates the roll angle and pitch angle of the movable body and the offset error for at least one detection unit based on detected values from the first, second and third angular velocity detection units, detected values from the first, second and third acceleration detection units, a detected value from the velocity information detection unit, an estimated value of the roll angle from a previous estimation operation, an estimated value of the pitch angle from the previous estimation operation, and an estimated value of the offset error from the previous estimation operation.