An attitude fusion enhanced measurement method and system based on inertial navigation technology

Abstract

The present invention provides an attitude fusion enhanced measurement method and system based on inertial navigation technology. The method includes step 1, acquiring attitude data detected by each sensor, and performing data initialization; step 2, performing strapdown calculation on the initialized attitude data; Step 3, correct the attitude data corresponding to each sensor; Step 4, use feedback control to correct the gyro zero point according to the corrected acceleration data and magnetometer data; Step 5, output the corrected attitude data. The invention has a magnetic anomaly detection function, and the magnetic correction does not affect the pitch angle and roll angle correction; based on the nonlinear theory, better convergence speed and control precision are provided.

Description

technical field [0001] The invention relates to an object attitude measurement, in particular to an attitude fusion enhanced measurement method and system based on inertial navigation technology, which belongs to the technical field of inertial navigation. Background technique [0002] In real life, attitude measurement of moving objects is essential. Through the measurement of the attitude, the moving object can be controlled to make it move according to the expected attitude; the attitude change of the moving object can also be understood through the measurement of the attitude, and then its internal motion law can be known. There are six degrees of freedom in the movement of an object in space, which are three linear degrees of freedom and three angular degrees of freedom. The three angular degrees of freedom, that is, space rotation, can be intuitively represented by Euler angles, which describe the attitude of an object in three-dimensional space, usually called roll a...

AI Technical Summary

Problems solved by technology

[0005] (1) Complementary filtering usually adopts PI feedback method (k p and k I are the feedback coefficients), which belongs to the linear control method, it is difficult to guarantee the rapidity and stability of the algorithm at the same time

[0006] (2) MEMS magnetic sensors are easily affected by external interference, and the indoor magnetic field environment is even worse. Due to the influence of external magnetic interference, when the conventional complementary filtering algorithm corrects the heading angle, it often affects the pitch angle and roll angle.

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