A Quaternion Calculation Device for Tilt Compensation of Attitude Gyroscope

Abstract

The invention provides a device for resolving a tilt compensation quaternion of an attitude gyroscope. The device comprises an orientation sensor for sensing a geomagnetic vector so as to calculate a course included angle, a six-axis motion sensor for detecting the direction and the speed of the device and calculating a three-axis acceleration and a three-axis angular velocity, a pressure sensor for detecting the atmospheric pressure and calculating the altitude value of the device, and a resolving unit for performing real-time tilt compensation quaternion resolving on the three-axis acceleration, the three-axis angular velocity and the course included angle and performing data optimizing processing by virtue of Kalman filtering and the altitude value so as to obtain accurate real-time parameters of a pitch angle, a roll angle, a course angle and an altitude. The device for resolving the tilt compensation quaternion of the attitude gyroscope is capable of eliminating data errors in case of the tilting of a gyroscope-based attitude sensor so that the attitude sensor is capable of providing accurate pitch angle, roll angle and course angle, and has the beneficial effects of accurate attitude value, low error, no attitude dead angle, low cost and high resolving speed.

Description

Technical field [0001] The invention relates to the field of gyroscopes, and more specifically, to a quaternion calculation device for tilt compensation of an attitude gyroscope. Background technique [0002] When the gyroscope rotates at high speed, it can resist the influence of any external force and interference, and keep its rotation axis stable relative to the inertial space direction. Therefore, by measuring the change of the included angle relative to the rotation axis of the gyroscope, it is possible to detect and correct the attitude deviation of the device (such as an aircraft) carrying the gyroscope. Such a control system implemented by a gyroscope is also called an attitude stabilization system. [0003] At present, most of the gyroscopes used in the market are magnetic compass magnetoresistive sensors. When the magnetic compass is tilted, there will be a magnetic deviation, and a huge error of about 180 degrees will occur when the magnetic compass is tilted to 90 deg...

AI Technical Summary

Problems solved by technology

In the prior art, a mechanical structure can be used to suspend the gyroscope so that it is kept in a horizontal state to achieve correct measurement results, or an expensive laser gyroscope can be used

The above solutions will complicate the structure of the gyroscope and increase the product cost

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