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Low-cost AHRS course angle compensation method based on quaternion-extended Kalman filtering

A technology of extended Kalman and compensation method, applied in the field of low-cost AHRS heading angle compensation, which can solve the problems of large noise of MEMS inertial sensor and low accuracy of attitude output

Pending Publication Date: 2020-07-17
ZHONGBEI UNIV
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Problems solved by technology

[0005] Based on the above-mentioned low-cost MEMS AHRS attitude detection module, the MEMS inertial sensor has a large noise and the random drift error causes low attitude output accuracy. The present invention is based on a quaternion-extended Kalman filter low-cost AHRS heading angle compensation method.

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  • Low-cost AHRS course angle compensation method based on quaternion-extended Kalman filtering

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[0068] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not used to limit the present invention. The front and rear records in the embodiments are subject to the accompanying drawings, and are only used to clarify the positional relationship, and are not used to limit the present invention. .

[0069] Such as figure 1 Shown, a kind of low-cost AHRS course angle compensation method based on quaternion-extended Kalman filter, described method comprises the following steps:

[0070] S1, collecting MEMS inertial sensor information, including: MEMS gyroscope data information, MEMS accelerometer data information, MEMS magnetometer data information, the MEMS inertial sensors involved in t...

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Abstract

The invention discloses a low-cost AHRS course angle compensation method based on quaternion-extended Kalman filtering. The method comprises the following steps of S1, acquiring the information of anMEMS inertial sensor; S2, establishing a random error model of the MEMS inertial sensor; S3, establishing a kinematics equation by utilizing a quaternion attitude algorithm; S4, establishing an attitude measurement system state equation according to a quaternion differential equation and a gyroscope random error model, and establishing a measurement equation of a system by utilizing output valuesof an accelerometer and a magnetometer; and S5, obtaining an optimal quaternion by using extended Kalman filtering, and calculating an AHRS attitude angle. The low-cost AHRS course angle compensationmethod based on quaternion-extended Kalman filtering can improve the course angle attitude precision of an AHRS attitude detection module, and is simple in algorithm structure and high in calculationspeed. Compared with other attitude test schemes, the scheme of the invention has the advantages that the triaxial measurement values of the accelerometer and the magnetometer are used as the six-dimensional observation quantity of the system, the reliability of the obtained structure is higher, and the course angle attitude precision of the low-cost MEMS AHRS is effectively improved.

Description

technical field [0001] The invention relates to the related field of micro-inertial navigation technology, in particular to a low-cost AHRS heading angle compensation method based on quaternion-extended Kalman filtering. Background technique [0002] Low-cost MEMS inertial devices have poor precision and high noise, which cannot meet the requirements of carrier position and speed navigation, and are often used for carrier attitude measurement. It has the advantages of small size, low cost, light weight, easy integration and portability, etc. It can be used not only in the fields of small aviation aircraft, vehicle autonomous driving, human joint attitude measurement, but also in military fields, such as low-cost guided munitions, Small drones, radar systems, etc., have broad application prospects. However, the errors of MEMS inertial devices continue to accumulate over time, and the attitude accuracy deteriorates rapidly in a short period of time, and even cannot be applied...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00
CPCG01C21/16G01C25/005
Inventor 张鹏徐文武刘鹏李孟委李维刚
Owner ZHONGBEI UNIV
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