Position Attitude Estimation via Multi-Timing Interpolation
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Solution Overview
Problem
Existing position and attitude estimation devices for moving objects, such as spacecraft and unmanned aircraft, face limitations in enhancing estimation accuracy due to reliance on limited sensor types like GPS, acceleration, and gyro sensors, which result in dependent attitude estimation accuracy and difficulty in ensuring absolute accuracy.
Innovation Solution
A position and attitude estimation device that combines high accuracy and small light position and attitude estimation units, using GPS, acceleration, and gyro sensors to estimate positions and attitudes at different timings, with the output unit generating a third position and attitude by interpolating between the two, thereby enhancing estimation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single position and attitude estimation unit is used, then the device complexity is reduced, but the estimation accuracy cannot be enhanced beyond the limitations of the sensor types employed
Solution Approach 1:
The estimation system is divided into multiple independent estimation units, each processing sensor data through different algorithms or with different weights. This segmentation allows each unit to have specialized functionality while collectively achieving higher accuracy through their combined outputs, resolving the contradiction between accuracy improvement and system complexity.
Solution Approach 2:
Multiple estimation units are merged into a unified estimation system where their individual outputs are integrated. The combining mechanism synthesizes results from different estimation approaches, achieving enhanced accuracy while managing complexity through structured integration rather than simple addition of components.
2Measurement precision
If multiple sensors are integrated for position and attitude estimation, then measurement precision improves, but the device complexity increases due to additional processing requirements
Solution Approach 1:
The estimation units are designed with multi-functionality to process multiple sensor types (GPS, acceleration sensors, gyro sensors) simultaneously. Each unit can handle various sensor inputs and apply appropriate processing algorithms, reducing the need for separate dedicated processing paths for each sensor type and thereby managing complexity while maintaining high measurement precision.
Data Source
AI summary
The present invention makes it possible to enhance the accuracy of position and attitude estimation. A position and attitude estimation device (10) is provided with a first detection unit (1) for detecting a plurality of first position and attitude parameters pertaining to the position and attitude of a moving object, a first position and attitude estimation unit (2) for estimating a first position and attitude of the moving object at a first time on the basis of the plurality of detected first position and attitude parameters, a second detection unit (3) for detecting a plurality of second position and attitude parameters pertaining to the position and attitude of the moving object, a second position and attitude estimation unit (4) for estimating a second position and attitude of the moving object at a second time different from the first time on the basis of the plurality of detected second position and attitude parameters, and a position and attitude output unit (5) for outputting a third position and attitude on the basis of the estimated first position and attitude and second position and attitude.