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Carrier dynamic attitude estimation method based on MEMS inertial sensor

An inertial sensor and attitude estimation technology, applied in the field of MEMS sensing, can solve the problems of gyroscope drift error, poor dynamic performance, large error, etc., and achieve the effect of reducing drift error and improving accuracy

Active Publication Date: 2020-03-17
LOW SPEED AERODYNAMIC INST OF CHINESE AERODYNAMIC RES & DEV CENT
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Problems solved by technology

However, MEMS inertial devices have the following disadvantages at the same time: 1) There is a drift error in the gyroscope, and there will be error accumulation after long-term use; 2) The accelerometer is greatly affected by linear acceleration and centripetal acceleration in the motion state, and there are Big error, poor dynamic performance
And because the interference of the magnetic field is random in reality, the error is pre-eliminated, and the error is large when the heading angle is solved alone

Method used

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  • Carrier dynamic attitude estimation method based on MEMS inertial sensor
  • Carrier dynamic attitude estimation method based on MEMS inertial sensor
  • Carrier dynamic attitude estimation method based on MEMS inertial sensor

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Embodiment 2

[0117] Example 2 Effect experiment comparison

[0118] This article sets up three sets of experiments for comparison to verify the effectiveness of the algorithm. The three sets of experiments are: 1) Static state plus high-frequency vibration experiment, the results are as follows image 3 As shown; 2) The swing test is carried out at a frequency of 0.5 Hz and an amplitude of ±5°. The results are as follows Figure 4 Shown; 3) Rotation test at an angular velocity of 50° / s, the results are as follows Figure 5 Shown. Each group of experiments is composed of three kinds of attitude calculation algorithms: the attitude calculation algorithm (GA) using the accelerometer, the attitude calculation algorithm (FIR) using FIR filtering, and the EKF filtering algorithm (EKF) designed in this application. Test the performance of the three algorithms in different situations.

[0119] by image 3 It can be seen that in the state of vibration, the GA algorithm has large fluctuations with an err...

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Abstract

The invention discloses a carrier dynamic attitude estimation method based on an MEMS inertial sensor. The method comprises the following steps: acquiring triaxial accelerometer data and processing the triaxial accelerometer data through an accelerometer noise model; acquiring three-axis gyroscope data and processing the three-axis gyroscope data through a gyroscope noise model; and processing thedata processed by the three-axis gyroscope and the data processed by the three-axis accelerometer by an EKF filter and then performing multi-sensing information fusion to solve an attitude angle andupdate attitude information. Therefore, the accelerometer data is processed through the accelerometer noise model, the gyroscope data are processed through the gyroscope noise model, multi-sensing information fusion is performed on the data processed by the three-axis gyroscope and the data processed by the three-axis accelerometer through the EKF filter and thus the attitude information of the dynamic carrier is stably and accurately obtained.

Description

Technical field [0001] This application relates to the field of MEMS sensing technology, and in particular to a method for estimating the dynamic attitude of a carrier based on a MEMS inertial sensor. Background technique [0002] Intelligent and unmanned is the development trend of today's vehicle industry. Whether it is the development of unmanned vehicles or the application of intelligently operated engineering vehicles, real-time, accurate and stable attitude information is the realization of intelligent operation and unmanned network premise. MEMS sensors are widely used in today's industry due to their small size, light weight, low power consumption and high reliability. However, MEMS inertial devices also have the following shortcomings: 1) The gyroscope has drift errors, and there will be error accumulation in long-term use; 2) The accelerometer is greatly affected by linear acceleration and centripetal acceleration in the state of motion, and it exists when it is used a...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 吴志刚徐开明耿晓东时广轶王春波尹欣繁刘忠华
Owner LOW SPEED AERODYNAMIC INST OF CHINESE AERODYNAMIC RES & DEV CENT
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