Multi-redundancy inertial measurement data management method and system

Abstract

The invention discloses a multi-redundancy inertial measurement data management method and system. The method comprises the following steps: acquiring multi-path IMU (Inertial Measurement Unit) data acquired by a plurality of IMU units; performing multi-dimensional fault evaluation on the multi-path IMU data to generate detection data; extracting optimal IMU data contained in the detection data; and taking the IMU unit corresponding to the optimal IMU data as a first IMU unit to be applied at the next moment. According to the method, combined voting scoring of the IMU data is performed through multi-dimensional fault assessment, so that the fault detection accuracy is effectively improved, and meanwhile, the trend of the IMU data with the highest combined voting score at the current moment is simulated; and the IMU data applied at the current moment is gradually corrected to be the same as the IMU data collected by the simulated first IMU unit at the next moment according to the linear or nonlinear adjustment rate, so that the problem that the motion stability of the device is seriously influenced due to the large switching amplitude of the IMU data to be applied is avoided.

Description

technical field [0001] The invention relates to the technical field of inertial navigation systems, in particular to a management method and system for redundant inertial measurement data. Background technique [0002] The full name of IMU is Inertial Measurement Unit, an inertial measurement unit. By detecting and measuring acceleration and rotational motion, the back-end data processing unit can solve the pose of the measured object. At present, IMUs are widely used in devices that require precise displacement calculations with attitude and motion control, such as inertial navigation equipment for automobiles, robots, submarines, aircraft, missiles, and spacecraft. [0003] As the key data acquisition equipment for device motion control, IMU fails to provide effective data information if it fails during use, which will lead to serious safety hazards in the controlled device and cause huge economic losses. Therefore, most of the existing devices that use IMUs are designed ...

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Problems solved by technology

[0006] In view of this, the present invention provides a management method and system for redundant inertial measurement data, which performs joint voting and scoring of IMU data through multi-dimensional fault assessment, effectively improving the accuracy of fault detection, and at the same time through simulation at the current moment. Vote on the trend of the IMU data with the highest score, and gradually correct the IMU data applied at the current moment according to the linear or nonlinear adjustment rate to be the same as the IMU data collected by the simulated first IMU unit at the next moment, avoiding the IMU data to be applied The problem that the large switching range seriously affects the motion stability of the device solves the problems of poor fault detection accuracy and large switching range of IMU data to be applied in the traditional inertial measurement data management method

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