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A filter optimization method and system for six-push unmanned aerial vehicle accelerator measurement value

A machine accelerator and optimization method technology, which is applied in the direction of navigation through speed/acceleration measurement, can solve problems such as inaccuracy, underwater drone displacement jump, and inaccurate accelerometer measurement data, so as to reduce the occurrence probability and Error, the effect of improving accuracy

Active Publication Date: 2021-05-25
SHENZHEN GENEINNO TECH CO LTD
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Problems solved by technology

However, the accelerometer measurement data in the nine-axis motion attitude module of the underwater UAV is inaccurate, because it is only a simple application for rough positioning, and there are many errors (measurement noise) and non-real extremum jumps. Will cause jumps and inaccuracies in the underwater drone displacement calculated by the integral

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  • A filter optimization method and system for six-push unmanned aerial vehicle accelerator measurement value
  • A filter optimization method and system for six-push unmanned aerial vehicle accelerator measurement value
  • A filter optimization method and system for six-push unmanned aerial vehicle accelerator measurement value

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Embodiment Construction

[0030] The six-push UAV is equipped with a Kalman filter and a nine-axis motion attitude module (sensor).

[0031] The nine-axis motion attitude module simulates the inertial navigator for positioning, and the nine-axis motion attitude module is provided with an accelerometer, which can measure the acceleration measurement value through the accelerometer.

[0032] The Kalman filter is an algorithm that uses the linear system state equation to optimally estimate the system state through the input and output observation data of the system. The essence of the Kalman filter is an optimal recursive data processing algorithm (optimal recursive data processing algorithm), which is currently the best and most efficient among various filters for processing signal noise and measurement errors, and is widely used It is used in navigation, communication, control, image processing and sensor data fusion. The core principle of the Kalman filter is to estimate the optimal estimated value by...

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Abstract

The present invention relates to the technical field of six-push unmanned aerial vehicles, in particular to a filter optimization method and system for the measured value of the six-push unmanned aerial vehicle's accelerator; the present invention first filters the acceleration measured value at time K through a Kalman filter; and then Obtain the acceleration measurement value and acceleration prediction value at K time; thus obtain the covariance at K time; then calculate the Kalman gain at K time; then obtain the optimal prediction value at K time; iterate through the optimal prediction value at K time calculation to obtain the optimal predicted value at K+1 time; the present invention performs real-time filter optimization on the accelerator measurement value to obtain measurement data closer to the real acceleration; performs secondary integral processing on the acceleration data after filter optimization to obtain more accurate The displacement data of the underwater UAV can greatly reduce the occurrence probability and error of the unreal extremum value of the measured acceleration, and improve the positioning accuracy of the underwater UAV through the nine-axis motion attitude module.

Description

technical field [0001] The invention relates to the technical field of six-push UAVs, in particular to a filter optimization method for measuring values ​​of accelerators of six-push UAVs. Background technique [0002] At present, Liutui underwater drone uses MPU605 six-axis motion attitude sensor and processing components, combined with IST Aisen magnetometer, to achieve a complete nine-axis motion attitude fusion output. [0003] Underwater drones are currently unable to achieve underwater positioning through GPS electromagnetic signals. Currently, the most commonly used underwater positioning methods are underwater acoustic echo technology positioning or inertial navigators. Underwater drones plan to use a nine-axis motion attitude module to simulate The inertial navigator converts the integral of the accelerometer (accelerator) measurement value into each axial displacement of the underwater drone to obtain the underwater position. However, the accelerometer measurement...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 王盛炜黄俊平陈汉良
Owner SHENZHEN GENEINNO TECH CO LTD
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