CN105371846A - 载体姿态检测方法及其系统 - Google Patents
载体姿态检测方法及其系统 Download PDFInfo
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- CN105371846A CN105371846A CN201510783368.4A CN201510783368A CN105371846A CN 105371846 A CN105371846 A CN 105371846A CN 201510783368 A CN201510783368 A CN 201510783368A CN 105371846 A CN105371846 A CN 105371846A
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- 238000001514 detection method Methods 0.000 title claims abstract description 25
- 230000001133 acceleration Effects 0.000 claims abstract description 272
- 239000013598 vector Substances 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims description 51
- 230000005484 gravity Effects 0.000 claims description 49
- 238000005259 measurement Methods 0.000 claims description 38
- 230000010354 integration Effects 0.000 claims description 5
- 230000000750 progressive effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
Description
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Priority Applications (1)
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CN201510783368.4A CN105371846B (zh) | 2015-11-13 | 2015-11-13 | 载体姿态检测方法及其系统 |
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CN201510783368.4A CN105371846B (zh) | 2015-11-13 | 2015-11-13 | 载体姿态检测方法及其系统 |
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CN105371846A true CN105371846A (zh) | 2016-03-02 |
CN105371846B CN105371846B (zh) | 2018-01-05 |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106197376A (zh) * | 2016-09-23 | 2016-12-07 | 华南农业大学 | 基于单轴mems惯性传感器的车身倾角测量方法 |
CN106289244A (zh) * | 2016-08-10 | 2017-01-04 | 极翼机器人(上海)有限公司 | 一种抗加速度干扰的姿态确定方法 |
CN106500689A (zh) * | 2016-10-31 | 2017-03-15 | 维沃移动通信有限公司 | 一种确定移动终端的姿态的方法及移动终端 |
CN108627155A (zh) * | 2018-03-30 | 2018-10-09 | 华南农业大学 | 一种农业机械非直线作业向心加速度估算及倾角融合方法 |
CN109631895A (zh) * | 2019-01-04 | 2019-04-16 | 京东方科技集团股份有限公司 | 一种物体的位姿估计方法和装置 |
CN110383002A (zh) * | 2017-03-08 | 2019-10-25 | 罗伯特·博世有限公司 | 空间取向的确定 |
CN113485393A (zh) * | 2021-06-22 | 2021-10-08 | 北京三快在线科技有限公司 | 飞行设备的控制方法、装置、存储介质及飞行设备 |
CN113793509A (zh) * | 2018-03-12 | 2021-12-14 | 深圳鼎然信息科技有限公司 | 基于运动传感器的路况分析方法、装置、设备及介质 |
Citations (5)
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CN1664506A (zh) * | 2004-03-05 | 2005-09-07 | 清华大学 | 一种载体姿态测量方法及其系统 |
WO2005108119A2 (en) * | 2004-04-30 | 2005-11-17 | Hillcrest Laboratories, Inc. | Free space pointing devices with tilt compensation and improved usability |
CN101726295A (zh) * | 2008-10-24 | 2010-06-09 | 中国科学院自动化研究所 | 考虑加速度补偿和基于无迹卡尔曼滤波的惯性位姿跟踪方法 |
CN102297693A (zh) * | 2010-06-24 | 2011-12-28 | 鼎亿数码科技(上海)有限公司 | 测量物体位置和方位的方法 |
CN203264283U (zh) * | 2012-11-22 | 2013-11-06 | 重庆阿尔舍电子控制技术有限公司 | 用于航模飞机的惯性姿态平衡器 |
-
2015
- 2015-11-13 CN CN201510783368.4A patent/CN105371846B/zh active Active
Patent Citations (5)
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CN1664506A (zh) * | 2004-03-05 | 2005-09-07 | 清华大学 | 一种载体姿态测量方法及其系统 |
WO2005108119A2 (en) * | 2004-04-30 | 2005-11-17 | Hillcrest Laboratories, Inc. | Free space pointing devices with tilt compensation and improved usability |
CN101726295A (zh) * | 2008-10-24 | 2010-06-09 | 中国科学院自动化研究所 | 考虑加速度补偿和基于无迹卡尔曼滤波的惯性位姿跟踪方法 |
CN102297693A (zh) * | 2010-06-24 | 2011-12-28 | 鼎亿数码科技(上海)有限公司 | 测量物体位置和方位的方法 |
CN203264283U (zh) * | 2012-11-22 | 2013-11-06 | 重庆阿尔舍电子控制技术有限公司 | 用于航模飞机的惯性姿态平衡器 |
Non-Patent Citations (3)
Title |
---|
ROBERTO G.VALENTI 等: "A Non-inertial Acceleration Suppressor for Low Cost Inertial Measurement Unit Attitude Estimation", 《PROCEEDING OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS》 * |
曾文献 等: "基于加速度的姿态解算修正方法研究", 《COMPUTER KNOWLEDGE AND TECHNOLOGY 电脑知识与技术》 * |
李文锋 等: "基于加速度传感器的人体姿态跟踪角度算法", 《湖北工业大学学报》 * |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106289244A (zh) * | 2016-08-10 | 2017-01-04 | 极翼机器人(上海)有限公司 | 一种抗加速度干扰的姿态确定方法 |
CN106289244B (zh) * | 2016-08-10 | 2019-11-26 | 极翼机器人(上海)有限公司 | 一种抗加速度干扰的姿态确定方法 |
CN106197376A (zh) * | 2016-09-23 | 2016-12-07 | 华南农业大学 | 基于单轴mems惯性传感器的车身倾角测量方法 |
CN106500689A (zh) * | 2016-10-31 | 2017-03-15 | 维沃移动通信有限公司 | 一种确定移动终端的姿态的方法及移动终端 |
CN106500689B (zh) * | 2016-10-31 | 2021-08-24 | 维沃移动通信有限公司 | 一种确定移动终端的姿态的方法及移动终端 |
CN110383002A (zh) * | 2017-03-08 | 2019-10-25 | 罗伯特·博世有限公司 | 空间取向的确定 |
CN113793509A (zh) * | 2018-03-12 | 2021-12-14 | 深圳鼎然信息科技有限公司 | 基于运动传感器的路况分析方法、装置、设备及介质 |
CN113793509B (zh) * | 2018-03-12 | 2024-04-16 | 深圳鼎然信息科技有限公司 | 基于运动传感器的路况分析方法、装置、设备及介质 |
CN108627155A (zh) * | 2018-03-30 | 2018-10-09 | 华南农业大学 | 一种农业机械非直线作业向心加速度估算及倾角融合方法 |
CN109631895A (zh) * | 2019-01-04 | 2019-04-16 | 京东方科技集团股份有限公司 | 一种物体的位姿估计方法和装置 |
CN113485393A (zh) * | 2021-06-22 | 2021-10-08 | 北京三快在线科技有限公司 | 飞行设备的控制方法、装置、存储介质及飞行设备 |
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CN105371846B (zh) | 2018-01-05 |
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Denomination of invention: Method and System for Carrier Attitude Detection Effective date of registration: 20230619 Granted publication date: 20180105 Pledgee: China Co. truction Bank Corp Guangzhou Tianhe subbranch Pledgor: Guangzhou Ligong Science and Technology Co.,Ltd. Registration number: Y2023980044488 |
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Denomination of invention: Method and System for Carrier Attitude Detection Granted publication date: 20180105 Pledgee: China Co. truction Bank Corp Guangzhou Tianhe subbranch Pledgor: Guangzhou Ligong Science and Technology Co.,Ltd. Registration number: Y2024980001353 |
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