Attitude determining system of mini system suitable for any motion

Abstract

A posture-fixing system for the mini-system which can realize the arbitrary movement; the system is characterized in that comprises a micro-magnetic sensor MMS module, a micro-inertia measurement unit MIMU module, a GPS module and a Kalman filtering module. Under the arbitrary state of motion of the mini-system, the MIMU module can work out the gravitational acceleration of the mini-system via the strapping of the output data and the navigation algorithm; the MMS module revolves the roll maneuver angle, the pitch angle and the 3D attitude information of the course angle for the mini-system via the real-time posture-fixing algorithm; also, the constant false alarm CFAR wave filter is adopted to filter the noise in the output speed and the acceleration information of the GPS. On one hand, the 3D posture information is sent to the Kalman filtering module for combination with the position and velocity information of the GPS, so as to correct the MIMU error from time to time via the information mixing algorithm, on the other hand, 3D posture information is adopted to replace the Cnb coordinate transfer matrix in real time; the Cnb coordinate transfer matrix will be delivered to the MIMU module and the GPS module, so that the horizontal coordinate system information is transferred to the carrier coordinates. The utility model introduces the iterative solution among the GPS, the MIMU and the MMS, so as to ascertain the direction of the moving vehicle under arbitrary state of motion. Therefore, the wide application prospects are available.

Description

technical field [0001] The invention relates to an attitude determination system suitable for arbitrarily moving micro-miniature systems, and is suitable for determining the heading of the microminiature systems in any moving state. Background technique [0002] Any moving body needs a high-precision navigation system and control system. The high-precision navigation system provides the moving body with motion information such as current position, speed, and attitude; the high-precision control system controls the moving body according to the required method based on the motion information provided by the navigation system. Motion, where the accuracy of attitude information has a decisive influence on the performance of the control system. [0003] The attitude determination of large moving bodies under arbitrary motion conditions has been realized by using high-precision, large-volume, high-cost inertial navigation systems or star sensors. However, the attitude determinati...

AI Technical Summary

Problems solved by technology

[0007] It can be seen that any existing attitude measurement method cannot accurately determine the three-dimensional attitude information of the micro system in any motion state

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