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MARG attitude calculation method with motion acceleration compensation

An accelerometer and calculation method technology, applied in the field of navigation, can solve the problems that the system no longer meets the filtering assumption model, the filtering estimation is biased, and the MARG sensor attitude estimation is easily affected by non-gravitational acceleration and magnetic field interference.

Active Publication Date: 2021-04-20
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

However, the attitude estimation of the MARG sensor is susceptible to non-gravitational acceleration and magnetic field interference
These disturbances will cause the system to no longer satisfy the filtering hypothesis model, causing the filtering estimation to be biased or even divergent.

Method used

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  • MARG attitude calculation method with motion acceleration compensation
  • MARG attitude calculation method with motion acceleration compensation
  • MARG attitude calculation method with motion acceleration compensation

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Embodiment Construction

[0017] Below in conjunction with the accompanying drawings, the MARG attitude estimation method of motion acceleration compensation and magnetic field interference detection in the present invention will be described in detail:

[0018] Step 1: Make a one-step prediction using the gyroscope:

[0019] Build a system state model:

[0020] x k = Φ k-1,k x k-1 +w k (1)

[0021] Among them, the subscript k means t k moment x k means t k In this model, the attitude quaternion q is taken as the state, that is, x=q;w k is the state model noise; by t k-1 time to t k State transition matrix Φ at time k-1,k for:

[0022]

[0023] Among them, I 4 Denotes a 4-dimensional identity matrix, T s Indicates the sampling interval, M(ω k ) is defined as follows:

[0024]

[0025] Among them, ω x , ω y , ω z Respectively represent the angular velocity in the x, y, z directions; ω k Indicates the 3-dimensional angular velocity vector, namely ω k =[ω x ω y ω z ] T ;S...

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Abstract

The invention discloses an MARG attitude calculation method with motion acceleration compensation, and belongs to the field of navigation. The method comprises the following steps of: firstly, carrying out attitude one-step prediction by utilizing a gyroscope, then, detecting an accelerometer and a magnetometer by utilizing a one-step prediction value, and finally, executing a corresponding data fusion algorithm according to different detection results. By using the method to estimate the attitude of the MARG sensor, the motion acceleration and the magnetic field interference of the carrier are effectively detected; directed at the dynamic characteristics of the motion carrier, sliding window data is introduced to fit a motion acceleration change rule and carry out corresponding model compensation; and an analytical solution of a gravity-magnetic (acceleration and magnetic induction intensity measured values) vector pair under the Wahba problem is derived so as to accelerate the attitude solving speed and remarkably improve the MARG attitude estimation efficiency.

Description

technical field [0001] The invention belongs to the field of navigation, in particular to a MARG attitude estimation method with rapid analysis of gravity and magnetic vector pairs with motion acceleration compensation of a sliding recurrence window. Background technique [0002] In recent decades, with the development of Micro-Electro-Mechanical System (MEMS) technology, MEMS inertial sensors have been widely used in industrial fields and scientific research to provide position and attitude information. A MEMS inertial sensor composed of a three-axis gyroscope and a three-axis accelerometer, combined with a three-axis magnetic sensor module, is called a MARG (magnetic, angular rate and gravity, MARG) sensor. In order to optimally fuse MARG sensor data, numerous data fusion methods have been developed, which mainly fall into two categories. One of them is the method of complementary filtering of accelerometer and gyroscope, based on the complementary characteristics of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
Inventor 周泽波张泽亮
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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