Attitude angle calculating and positioning method and fusion sensor thereof

Abstract

The invention discloses an attitude angle calculating and positioning method and a fusion sensor thereof. The fusion sensor comprises a plurality of IMU sensors, a magnetometer and a GPS. The method comprises the following steps that the magnetometer, an accelerometer and gyro are calibrated; measurement data of accelerometer and gyro are fused by a redundant information fusion algorithm correspondingly to obtain acceleration information and angular velocity information; an extended kalman filtering algorithm is used for fusing the acceleration information, angular velocity information and magnetic field information of the magnetometer to obtain a fusion attitude angle; and position information is obtained by fusion attitude angle auxiliary positioning information. Due to the fact that data measurement and data fusion calculation are conducted by using multiple redundant IMU sensors and the fusion attitude angle is obtain by using the extended kalman filtering algorithm to fuse the data, the high-accurate attitude angle can be obtained under both static and dynamic conditions. The fusion attitude angle is used for assisting the GPS to obtain corrected position information, and therefore position information is more accurate, and stability and reliability of attitude angle calculating and positioning are improved.

Description

Technical field [0001] The invention relates to the technical field of integrated navigation, in particular to a method for calculating and positioning an attitude angle and a fusion sensor thereof. Background technique [0002] Since the 1970s, navigation technology has developed rapidly. With the development of information technology and economic construction, the fields of transportation, industry, agriculture, surveying and mapping have put forward more diverse and higher requirements for navigation technology. [0003] At present, the most widely used integrated navigation technology is the navigation technology in terms of attitude determination and positioning. Integrated navigation refers to the use of one or more of GPS (Global Positioning System), radio navigation, celestial navigation, satellite navigation and other systems combined with INS (Inertial Navigation System, inertial navigation system) to form a comprehensive Navigation System. INS is a navigation parameter...

AI Technical Summary

Problems solved by technology

However, the existing integrated navigation technology of GPS and INS relies heavily on GPS signals, and the concealment of GPS signals is extremely poor, and the signals are easily interfered and obscured, resulting in a great decline in navigation accuracy; and, the work of GPS receivers Affected by the maneuvering of the aircraft, when the maneuvering of the aircraft exceeds the dynamic range of the GPS receiver, the receiver will lose lock and cannot capture and track satellite signals, so it cannot work. Navigation will be limited

At the same time, in the existing integrated navigation technology of GPS and INS, INS uses gyroscope and accelerometer as sensitive devices, and uses complementary filter fusion algorithm to solve the attitude angle, which has high computational complexity, and under dynamic conditions The error of the obtained attitude angle is large

[0005] Therefore, when using the existing integrated navigation technology for attitude angle calculation and positioning, the accuracy of the attitude angle information and position information obtained is not high, and the stability and reliability of attitude determination and positioning are low.

Images