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Real-time tracking device and method for space track

A real-time tracking and trajectory technology, applied in the direction of measuring devices, instruments, surveying and navigation, etc.

Inactive Publication Date: 2014-06-25
CHINA AGRI UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the deficiencies of the prior art, the present invention provides a space trajectory real-time measurement device and method, which can solve the problem of real-time tracking of three-dimensional space trajectory when there is no mobile base station or GPS signal

Method used

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  • Real-time tracking device and method for space track

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Experimental program
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Embodiment 1

[0077] like figure 1 As shown, the embodiment of the present invention provides a space trajectory real-time tracking device, the device includes: a sensor, a microcontroller, a universal asynchronous transceiver controller,

[0078] like image 3 As shown, the sensor includes a three-axis acceleration sensor, a three-axis gyroscope and a three-axis electronic compass, and the three-axis acceleration sensor is used to collect accelerations on three mutually perpendicular axes, and the three-axis gyroscope is used for Acquiring angular velocities on three mutually perpendicular axes, the three-axis electronic compass is used to collect attitude angles on three mutually perpendicular axes, and the sensor sends sensing data to a microcontroller through an IIC interface;

[0079] The microcontroller is used to receive and process the sensing data sent by the sensor, and send a control command to the sensor through the IIC bus; at the same time, send the processed sensing data to ...

Embodiment 2

[0098] like Figure 12 As shown, the embodiment of the present invention provides a method for real-time tracking of space trajectory, the method includes steps:

[0099] S1. The device is initialized, the microcontroller starts timing, and after the predetermined delay time, the microcontroller receives the sensor data collected by the three-axis acceleration sensor, three-axis gyroscope and three-axis electronic compass;

[0100] S2. The microcontroller processes the sensor data to obtain the initial attitude angle of the device, and determines the initial rotation quaternion (q 0 ,q 1 ,q 2 ,q 3 );

[0101] S3. Update the initial rotation quaternion according to the angular velocity data transmitted by the three-axis gyroscope to obtain a rotation matrix, and decompose the three-axis acceleration data transmitted by the three-axis acceleration sensor into a navigation coordinate system through the rotation matrix ;

[0102] S4. Integrating the three-axis acceleration i...

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Abstract

The invention provides a real-time tracking device and a real-time tracking method for a space track, and relates to the technical field of tracking of a three-dimensional space track. The device comprises a sensor, a microcontroller, and a universal asynchronous receiver and transmitter controller, wherein the sensor comprises a tri-axial acceleration sensor, a three-axis gyroscope and a three-axis electronic compass; the sensor transmits sensing data to the microcontroller through an inter-integrated circuit (IIC) interface; the microcontroller is used for receiving and processing the sensing data transmitted by the sensor, and transmitting a control command to the sensor through an IIC bus; meanwhile, the processed sensing data are transmitted to the universal asynchronous receiver and transmitter controller through a universal asynchronous receiver / transmitter (UART) periphery; the universal asynchronous receiver and transmitter controller converts the processed sensing data transmitted by the microcontroller, and transmits to a host computer through a universal serial bus (USB) interface; meanwhile, the universal asynchronous receiver and transmitter controller converts the command transmitted to the host computer and then transmits to the microcontroller. The device and the method are low in cost, high in stability and high in accuracy, and the device is small in size and convenient to carry.

Description

technical field [0001] The invention relates to the technical field of three-dimensional space trajectory tracking, in particular to a space trajectory real-time tracking device and method. Background technique [0002] With the economic development of society, the field of real-time tracking technology of space trajectory can be applied more and more widely. For example, large shopping malls are located in various commercial districts of the city. When shopping in large shopping malls, consumers will find a dazzling array of shops, such as for underground construction workers and rescuers for underground accidents. , it is very necessary for a device to help them locate and navigate; another example is that some mines and oilfield devices need to track the moving distance of the device, and use a ruler to measure the working status and performance indicators of the device that cannot be quickly determined; there are also universities that do Various physical experiments ne...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/165
Inventor 王剑秦倪广元孙龙清郭少鑫段青玲
Owner CHINA AGRI UNIV
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