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Self-adaptive horizontal attitude measurement method based on motion state monitoring

A technology of horizontal attitude and motion state, which is applied in measuring devices, navigation through speed/acceleration measurement, surveying and navigation, etc., can solve the problems of insufficient complex environment, unconsidered carrier angle interference, etc., and achieve low impact and high attitude measurement The effect of precision

Active Publication Date: 2021-07-27
HARBIN ENG UNIV
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Problems solved by technology

Most of the traditional adaptive adjustment methods compare the modulus output by the carrier accelerometer with the local gravitational acceleration to realize the judgment of the maneuvering state of the carrier, without considering the interference of the angular motion of the carrier on the acceleration measurement, which may be difficult for some complex environments. is insufficient

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  • Self-adaptive horizontal attitude measurement method based on motion state monitoring
  • Self-adaptive horizontal attitude measurement method based on motion state monitoring
  • Self-adaptive horizontal attitude measurement method based on motion state monitoring

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specific Embodiment approach

[0052] combine figure 1 and figure 2 , the specific embodiment of the present invention comprises the following steps:

[0053] Step 1, fully preheating the inertial measurement unit of the strapdown inertial navigation system;

[0054] Step 2. Collect the data of MEMS-IMU in a static state for a period of time, consider the average value of the output of MEMS-IMU within this period of time to be the random constant value zero bias of the device, and correct the constant value zero bias error of the gyroscope and accelerometer Compensation, obtain the specific force f after compensating the constant zero offset error b and angular velocity ω b ;

[0055] Step 3, carry out initial alignment to strapdown inertial navigation system, obtain the initial horizontal attitude angle (roll angle) of carrier system (b system) relative to navigation coordinate system (n system, navigation coordinate system chooses geographic coordinate system in the present invention) θ 0 and pitch...

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Abstract

The invention discloses a self-adaptive horizontal attitude measurement method based on motion state monitoring, which comprises the following steps of: based on a newly established state space model, taking a horizontal attitude angle as a state variable, taking an angular velocity increment delta omega b for compensating random constant zero offset as control input of a system equation, and taking a specific force fb for compensating random constant zero offset as quantity measurement; meanwhile, the judgment condition of the maneuvering state of the carrier is improved, and the maneuvering information of the carrier is judged by comprehensively utilizing the acceleration information and the angular velocity information output by the MEMS-IMU, so that the measurement noise matrix of the filter is automatically adjusted, and the influence of the maneuvering state of the carrier on the calculation of the horizontal attitude is effectively reduced. The method has no special requirement on the maneuvering state of the carrier, and can ensure that the system has high attitude measurement precision in different motion states without external information assistance.

Description

technical field [0001] The invention relates to an adaptive horizontal attitude measurement method based on motion state monitoring, which belongs to the technical field of inertia. Background technique [0002] With the development of micro-electro-mechanical system technology, low-cost MEMS-IMU has more and more applications in the field of navigation. By using the inertial sensor based on micro-electro-mechanical system to measure the motion parameters, it can detect the complex motion state of the ship in the sea and realize The user collects the motion data of the surface ship, which requires the MEMS-IMU to be able to accurately output the angular motion parameters and linear motion parameters of the carrier in real time. [0003] Micro-electromechanical gyroscopes have random drift characteristics, and their integral errors accumulate over time. Accelerometers do not have cumulative errors, but are easily affected by carrier vibration. Commonly used algorithms for fu...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/18G01C25/00G01C21/20G01C21/34
CPCG01C21/16G01C21/18G01C25/005G01C21/203G01C21/343
Inventor 赵玉新李帅阳奔粤阳吴磊李倩周广涛臧新乐魏廷枭王健成周一帆
Owner HARBIN ENG UNIV
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