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Multi-mode intelligent inertial navigation sensing system and data processing method thereof

A technology of inertial navigation and sensing system, applied in the field of intelligent inertial navigation sensor system

Pending Publication Date: 2018-06-12
北京原子机器人科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In order to solve the above-mentioned technical problems, the present invention provides a multi-mode intelligent inertial navigation sensing system and its processing method. Through multi-mode, the sensors of the inertial navigation sensing system can input more data channels and more complex data types. Under certain circumstances, the input sensor data can be flexibly selected, so that different modes can be selected for calculation according to different input data, thereby saving calculation and power consumption

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  • Multi-mode intelligent inertial navigation sensing system and data processing method thereof
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  • Multi-mode intelligent inertial navigation sensing system and data processing method thereof

Examples

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no. 1 example

[0022] This embodiment provides a multi-mode intelligent inertial navigation sensing system and its data processing flow. Such as figure 1As shown, the intelligent inertial navigation sensing system includes a sensor assembly, a processing module and an interface module, wherein the sensor assembly is connected to the processing module, the processing module is connected to the interface module, the processing module includes an engine kernel module and a selector, and the engine in the engine kernel module includes Two or more engine modes, each engine mode corresponds to a data fusion algorithm. The sensor component is used to measure acceleration, angular velocity, axial geomagnetic component, external temperature, external air pressure and / or positioning information; the processing module is used to receive the measured data, and perform data fusion processing on the measured multi-channel data through the engine core module, among which According to the user or system co...

no. 3 example

[0032] This embodiment provides yet another multi-mode intelligent inertial navigation sensing system and its data processing flow. Such as Figure 4 As shown, the intelligent inertial navigation sensing system includes sensor components, processing modules and interface modules. The sensor components include, for example, acceleration sensors, angular velocity sensors (gyroscopes), magnetic sensors, temperature sensors, air pressure sensors and / or global navigation satellite systems. The processing module is used to receive measurement data from multiple sensors, and perform data fusion processing on the data detected by the multiple sensors. Wherein the processing module may include a first calibration module, a second calibration module, a third calibration module, an automatic calibration module, a fourth calibration module, a fifth calibration module, a first filter, a second filter, a third filter, First selector, second selector, third selector, fourth selector, fifth...

no. 4 example

[0040] This embodiment provides yet another multi-mode intelligent inertial navigation sensing system and its data processing flow. Such as Figure 5 As shown, the intelligent inertial navigation sensing system includes sensor components, processing modules and interface modules. The sensor components include, for example, acceleration sensors, angular velocity sensors (gyroscopes), magnetic sensors, temperature sensors, air pressure sensors and global navigation satellite systems. The processing module is used to receive measurement data from multiple sensors, and process the data detected by the multiple sensors. Wherein the processing module may include a first calibration module, a second calibration module, a third calibration module, an automatic calibration module, a fourth calibration module, a fifth calibration module, a first filter, a second filter, a third filter, First selector, second selector, third selector, fourth selector, fifth selector, sixth selector, se...

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Abstract

The invention relates to a multi-mode intelligent inertial navigation sensing system and a data processing method thereof. The multi-mode intelligent inertial navigation sensing system comprises a sensor module, a processing module and an interface module, wherein the sensor module is connected with the processing module, and the processing module is connected with the interface module; the processing module comprises an engine kernel module and a selector, the engine in the engine kernel module comprises two or more engine modes, every engine mode corresponds to one data fusion algorithm; thesensor module is used for measuring acceleration, angular speed, axial geomagnetic component, external temperature, external air pressure and / or positioning information; the processing module is usedfor receiving measured data, and according to user or system configuration, performing data fusion on a part of or all the measured data from the sensor module according to the data fusion algorithmcorresponding to one of the engine modes; the selector selects and sends one data steam from data steams fused according to different engine modes to the interface module; the interface module is usedfor outputting processed data streams to an external module or a host; the processing module is embedded with a real-time operation system, in which a plurality of threads are arranged, and the plurality of threads are rounded at a preset time slice interval and used for controlling execution of different tasks.

Description

technical field [0001] The invention relates to the technical field of intelligent inertial navigation, in particular to an intelligent inertial navigation sensor system. Background technique [0002] Inertial navigation sensing is a positioning method based on measuring the acceleration of moving bodies. It does not rely on external information and only relies on its own inertial measurement to complete navigation. Inertial navigation system is a method that uses inertial sensitive devices, reference directions and initial positions. An autonomous navigation system to determine the position, orientation and velocity of objects in space. However, the motion detection performance of the current inertial navigation sensing system is not ideal, the parameter deviation is large, the data processing efficiency and real-time performance are poor, the system architecture maintenance is difficult, the data algorithm is complex, and the algorithm efficiency is poor. large power co...

Claims

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Application Information

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IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 张原
Owner 北京原子机器人科技有限公司
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