CN105606095B - A kind of method and apparatus of simplified inertial navigation set installation requirement - Google Patents
A kind of method and apparatus of simplified inertial navigation set installation requirement Download PDFInfo
- Publication number
- CN105606095B CN105606095B CN201610158633.4A CN201610158633A CN105606095B CN 105606095 B CN105606095 B CN 105606095B CN 201610158633 A CN201610158633 A CN 201610158633A CN 105606095 B CN105606095 B CN 105606095B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- vector
- carrier
- specific force
- under
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of method and devices of simplified inertial navigation set installation requirement, include the following steps：To vector under calculating sensor coordinate systemCalculate the forward direction vector under sensor coordinate systemAcquire the rotation transformation between sensor coordinate system and carrier coordinate systemAccording to rotation transformationSeek the angular speed under sensor coordinate systemAnd specific forceIt rotates to the angular speed under carrier coordinate systemAnd specific forceAngular speed will be acquiredAnd specific forceIt is applied in inertial navigation algorithm and acquires location information.Present invention reduces the installation requirements of inertial navigation set, improve the flexibility of design so that there is no the hidden danger of setup error.
Description
Technical field
The present invention relates to in-vehicle navigation apparatus more particularly to a kind of methods and dress of simplified inertial navigation set installation requirement
It sets.
Background technology
Inertial navigation technology be applied to earliest ship, aircraft, rocket, guided missile, on satellite, sensor is expensive and body
Product is big.With the development of micro-electronic mechanical skill, the cost and volume of MEMS inertial sensor all substantially reduce, and make inertial navigation
Technology can extensive use in fields such as automobile, consumption.Traditional inertial navigation set to be equipped with it is higher require, it is specified that
" front " of equipment will be aligned before carrier, the upper surface of " above " of equipment and carrier are aligned.Installation requirement improves peace
The cost of dress, limits the flexibility of design, and has the hidden danger such as setup error, displacement.
Invention content
For overcome the deficiencies in the prior art, the purpose of the present invention is to provide a kind of simplified inertial navigation set installations to want
The method asked.
To solve the above problems, the technical solution adopted in the present invention is as follows：
A kind of method of simplified inertial navigation set installation requirement, includes the following steps：
S1：Obtain the specific force of each time series when carrier stationary
S2：It is calculated according to formula (1), obtains specific force mean value when carrier stationaryWith under sensor coordinate system
On to vector
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean value
Mould,To vector under expression sensor coordinate system；
S3：Obtain the specific force of each time series in carrier driving processWith the acceleration acc of carrier travelingk,
Wherein k indicates k-th of time series；
S4：It is calculated according to formula (2), obtains horizontal acceleration
S5：It is calculated according to formula (3), obtains the related coefficient of specific force and accelerationAnd it calculatesIt is maximum
When corresponding sensor coordinate system under forward direction vector
ak=acck；
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
S6：According under sensor coordinate system to vectorForward direction vectorWith under carrier coordinate system on to list
Bit vectorWith forward direction unit vectorObtain the rotation transformation of sensor coordinate system and carrier coordinate system
S7：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,To carry
Angular speed under body coordinate system,For the specific force under carrier coordinate system,For sensor coordinate system to carrier coordinate system
Rotation transformation；
S8：By the angular speed under the carrier coordinate system obtained in S7And specific forceIt is applied to strap-down inertial calculation
The current location information of carrier is calculated in method.
Preferably, the inertial navigation algorithm is strap inertial navigation algorithm.
Preferably, in S3, when the speed of the carrier accelerate to 10km/h or the carrier accelerate to 10km/h with
When upper, the specific force in carrier driving process was obtainedWith acceleration acck。
Preferably, following sub-step has been specifically included in the S6：
S61：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector onCarry out orthogonal rule
Generalized；
S62：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, before which is denoted as
To cross product；
S63：To unit vector on after calculating orthonormalTo vector onCross product, which is denoted as
To cross product；
S64:By it is preceding to cross product and on to cross product be transformed to matrix form, and by after transformation forward direction cross product and on to cross product
Multiplication obtains rotation transformation
It is another object of the present invention to provide a kind of devices of simplified inertial navigation set installation requirement.
To solve the above problems, the technical solution adopted in the present invention is as follows：
A kind of device of simplified inertial navigation set installation requirement, comprises the following modules：
First information acquisition module：Obtain the specific force of each time series when carrier stationary
First calculation processing module：It is calculated according to formula (1), obtains specific force mean value when carrier stationaryAnd biography
To vector under sensor coordinate system
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean value
Mould,To vector under expression sensor coordinate system；
Second data obtaining module：Obtain the specific force of each time series in carrier driving processWith carrier row
The acceleration acc sailedk, wherein k k-th of time series of expression；
Second calculation processing module：It is calculated according to formula (2), obtains horizontal acceleration
Third calculation processing module：It is calculated according to formula (3), obtains the related coefficient of specific force and acceleration
And it calculatesForward direction vector when maximum under corresponding sensor coordinate system
ak=acck；
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
Rotation transform module：According under sensor coordinate system to vectorForward direction vectorAnd carrier coordinate system
Under on to unit vectorWith forward direction unit vectorObtain the rotation transformation of sensor coordinate system and carrier coordinate system
4th calculation processing module：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,To carry
Angular speed under body coordinate system,For the specific force under carrier coordinate system,For sensor coordinate system to carrier coordinate system
Rotation transformation；
Message processing module：By the angular speed under the carrier coordinate system obtained in the 4th calculation processing moduleAnd specific forceIt is applied to and calculates the current location information of carrier in strap inertial navigation algorithm.
Preferably, following submodule is specifically included in rotation transform module：
Orthonormal module：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector on
Carry out orthonormal；
Primary vector computing module：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, will
The cross product is denoted as preceding to cross product；
Secondary vector computing module：To unit vector on after calculating orthonormalTo vector onCross product, will
The cross product is denoted as to cross product；
Matrixing module：By it is preceding to cross product and on to cross product be transformed to matrix form, and by the forward direction cross product after transformation
It is multiplied to cross product to obtain rotation transformation on
Compared with prior art, the beneficial effects of the present invention are：
Using for the present invention makes the installation requirement of inertial sensor reduce, and does not need certain before inertial navigation set
Will be aligned before carrier, the upper surface of inertial navigation set has to be aligned with the upper surface of carrier, reduces inertial navigation and sets
Standby installation requirement improves the flexibility of design so that there is no the hidden danger of setup error, equipment only needs rigid with carrier
Property connection, without the concern for Installation posture.
Description of the drawings
Fig. 1 is the flow chart of the method for the simplification inertial navigation set installation requirement of the present invention.
Specific implementation mode
In the following, in conjunction with attached drawing and specific implementation mode, the present invention is described further：
As shown in Figure 1, the present invention provides a kind of methods of simplified inertial navigation set installation requirement, in the present embodiment
Mainly it is used as carrier with automobile to illustrate, includes the following steps：
S1：Obtain the specific force of each time series when carrier stationary
S2：It is calculated according to formula (1), obtains specific force mean value when carrier stationaryWith under sensor coordinate system
On to vector
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean valueMould,To vector under expression sensor coordinate system；
S3：Obtain the specific force of each time series in carrier driving processWith the acceleration acc of carrier travelingk；
Wherein k indicates k-th of time series；In the process, specific forceIt can directly be read by inertial sensor, it need not be into
Other calculating of row, acceleration acckCan be calculated with the speed of miniature positioning, the carrier accelerate to 10km/h or
The carrier accelerates to 10km/h or more.；
S4：It is calculated according to formula (2), with to vectorThe specific force being recordedProject to horizontal plane
On, obtain horizontal acceleration
S5：It is calculated according to formula (3), obtains the related coefficient of specific force and accelerationAnd it calculatesIt is maximum
When corresponding sensor coordinate system under forward direction vectorAccording to the iterative numericals processing method such as dichotomy or gradient descent method
It can be in the hope ofWhen maximum, so that it may preceding to vector to obtain
ak=acck；
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
S61：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector onCarry out orthogonal rule
Generalized；
S62：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, before which is denoted as
To cross product, it that is to say and acquire preceding to unit vectorRotation is vectorial to forward directionVector；
S63：To unit vector on after calculating orthonormalTo vector onCross product, which is denoted as
To cross product, it that is to say and acquire by to unit vectorIt rotates supreme to vectorVector；Due to forward direction unit vectorWith
Forward direction vectorOn to unit vectorTo vector onIt is vertical relationship, so to unit vector in S62With
On to vectorTransformation do not interfere with forward direction unit vector in S63With forward direction vectorCoincidence relation；
S64:By it is preceding to cross product and on to cross product be transformed to matrix form, and by after transformation forward direction cross product and on to cross product
Multiplication obtains rotation transformation
S7：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,To carry
Angular speed under body coordinate system,For the specific force under carrier coordinate system,For sensor coordinate system to carrier coordinate system
Rotation transformation；
S8：By the angular speed under the carrier coordinate system obtained in S7And specific forceIt is applied to strap-down inertial calculation
The current location information of carrier is calculated in method.
The specific implementation mode of the present invention：After inertial navigation set installs, needs to do and calibrate successively, it is specific to grasp
Work is, first in flat path-chromatic number, this process correspondence is S1 and S2, then linear accelerating is to 10km/h or more, this mistake
Journey corresponds to S3, S4, S5 and S6 this four steps, and in this process, software is automatically performed calibration.When running car,
It needs to navigate, starts specific force, angular speed and the rotation transformation that has calculated are obtained by inertial sensor to obtain at this time
Carrier current specific force and angular speed, then substitute into the location information that current automobile is acquired in general inertial navigation algorithm.
The general inertial navigation algorithm mainly uses strap inertial navigation algorithm, strap inertial navigation algorithm to exist《Strap down inertial navigation is led
Boat technology》Second edition in have detailed description.
The present invention also provides a kind of devices of simplified inertial navigation set installation requirement, comprise the following modules：
First information acquisition module：Obtain the specific force of each time series when carrier stationary
First calculation processing module：It is calculated according to formula (1), obtains specific force mean value when carrier stationaryAnd biography
To vector under sensor coordinate system
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean valueMould,To vector under expression sensor coordinate system；
Second data obtaining module：Obtain the specific force of each time series in carrier driving processWith carrier row
The acceleration acc sailedk, wherein k k-th of time series of expression；
Second calculation processing module：It is calculated according to formula (2), obtains horizontal acceleration
Third calculation processing module：It is calculated according to formula (3), obtains the related coefficient of specific force and acceleration
And it calculatesForward direction vector when maximum under corresponding sensor coordinate system
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
Rotation transform module：Further include following submodule in rotation transform module：
Orthonormal module：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector on
Carry out orthonormal；
Primary vector computing module：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, will
The cross product is denoted as preceding to cross product；
Secondary vector computing module：To unit vector on after calculating orthonormalTo vector onCross product, will
The cross product is denoted as to cross product；
Matrixing module：By it is preceding to cross product and on to cross product be transformed to matrix form, and by the forward direction cross product after transformation
It is multiplied to cross product to obtain rotation transformation on
4th calculation processing module：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,To carry
Angular speed under body coordinate system,For the specific force under carrier coordinate system,For sensor coordinate system to carrier coordinate system
Rotation transformation；
Message processing module：By the angular speed under the carrier coordinate system obtained in the 4th calculation processing moduleAnd specific forceIt is applied to and calculates the current location information of carrier in strap inertial navigation algorithm.
Bibliography according to the present invention is as follows：
[1] Zhang Tianguang, strap-down inertial technology (second edition) 2007-12-1.
It will be apparent to those skilled in the art that technical solution that can be as described above and design, make various other
Corresponding change and deformation, and all these changes and deformation should all belong to the protection domain of the claims in the present invention
Within.
Claims (3)
1. a kind of method of simplified inertial navigation set installation requirement, which is characterized in that include the following steps：
S1：Obtain the specific force of each time series when carrier stationary
S2：It is calculated according to formula (1), obtains specific force mean value when carrier stationaryWith under sensor coordinate system on to
Vector
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean value's
Mould,To vector under expression sensor coordinate system；
S3：When the speed of the carrier accelerates to 10km/h or the carrier accelerates to 10km/h or more, carrier row is obtained
The specific force of each time series during sailingWith the acceleration acc of carrier travelingk, wherein k k-th of time sequence of expression
Row；
S4：It is calculated according to formula (2), obtains horizontal acceleration
S5：It is calculated according to formula (3), obtains the related coefficient of specific force and accelerationAnd it calculatesInstitute when maximum
Forward direction vector under respective sensor coordinate system
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
S6：According under sensor coordinate system to vectorForward direction vectorWith under carrier coordinate system on to unit to
AmountWith forward direction unit vectorObtain the rotation transformation of sensor coordinate system and carrier coordinate systemIt is specifically included in the S6
There is following sub-step：
S61：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector onCarry out orthonormal
Change；
S62：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, to fork before which is denoted as
Product；
S63：To unit vector on after calculating orthonormalTo vector onCross product, which is denoted as to fork
Product；
S64：By it is preceding to cross product and on to cross product be transformed to matrix form, and the forward direction cross product after transformation is multiplied on to cross product
Obtain rotation transformation
S7：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,It is sat for carrier
Angular speed under mark system,For the specific force under carrier coordinate system,For the rotation of sensor coordinate system to carrier coordinate system
Transformation；
S8：By the angular speed under the carrier coordinate system obtained in S7And specific forceIt is applied to and is counted in inertial navigation algorithm
Calculate the current location information of carrier.
2. simplifying the method for inertial navigation set installation requirement as described in claim 1, which is characterized in that the inertial navigation
Algorithm is strap inertial navigation algorithm.
3. a kind of device of simplified inertial navigation set installation requirement, which is characterized in that comprise the following modules：
First information acquisition module：Obtain the specific force of each time series when carrier stationaryFirst calculation processing module：Root
It is calculated according to formula (1), obtains specific force mean value when carrier stationaryWith under sensor coordinate system on to vector
Wherein：I indicates that i-th of time series, N indicate to pass through N number of time series in total,Indicate specific force mean value's
Mould,To vector under expression sensor coordinate system；
Second data obtaining module：Obtain the specific force of each time series in carrier driving processWith adding for carrier traveling
Speed acck, wherein k indicate k-th of time series；
Second calculation processing module：It is calculated according to formula (2), obtains horizontal acceleration
Third calculation processing module：It is calculated according to formula (3), obtains the related coefficient of specific force and accelerationAnd it counts
It calculatesForward direction vector when maximum under corresponding sensor coordinate system
Wherein：To vector before indicatingMould,Indicate akAverage,Indicate bkAverage；
Rotation transform module：According under sensor coordinate system to vectorForward direction vectorWith under carrier coordinate system
On to unit vectorWith forward direction unit vectorObtain the rotation transformation of sensor coordinate system and carrier coordinate systemIt is rotating
Following submodule is specifically included in conversion module：
Orthonormal module：To preceding to unit vectorForward direction vectorOn to unit vectorTo vector onIt carries out
Orthonormal；
Primary vector computing module：Calculate the forward direction unit vector after orthonormalWith forward direction vectorCross product, by the fork
Product is denoted as preceding to cross product；
Secondary vector computing module：To unit vector on after calculating orthonormalTo vector onCross product, by the fork
Product is denoted as to cross product；
Matrixing module：By it is preceding to cross product and on to cross product be transformed to matrix form, and by forward direction cross product after transformation and upper
It is multiplied to obtain rotation transformation to cross product
4th calculation processing module：According to formula (4), the angular speed under carrier coordinate system is calculatedAnd specific force
Wherein,For the angular speed under sensor coordinate system,For the specific force under sensor coordinate system,It is sat for carrier
Angular speed under mark system,For the specific force under carrier coordinate system,For the rotation of sensor coordinate system to carrier coordinate system
Transformation；
Message processing module：By the angular speed under the carrier coordinate system obtained in the 4th calculation processing moduleAnd specific force
It is applied to and calculates the current location information of carrier in strap inertial navigation algorithm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158633.4A CN105606095B (en) | 2016-03-17 | 2016-03-17 | A kind of method and apparatus of simplified inertial navigation set installation requirement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610158633.4A CN105606095B (en) | 2016-03-17 | 2016-03-17 | A kind of method and apparatus of simplified inertial navigation set installation requirement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105606095A CN105606095A (en) | 2016-05-25 |
| CN105606095B true CN105606095B (en) | 2018-11-13 |
Family
ID=55986227
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610158633.4A Active CN105606095B (en) | 2016-03-17 | 2016-03-17 | A kind of method and apparatus of simplified inertial navigation set installation requirement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105606095B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114077719A (en) * | 2020-08-13 | 2022-02-22 | 华为技术有限公司 | Self-motion estimation method and related device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900607A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Rotation type strapdown inertial navigation system transposition method based on inertial system |
| CN103900566A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Method for eliminating influence on accuracy of rotating modulation strapdown inertial navigation system caused by earth rotation angular velocity |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9547022B2 (en) * | 2014-03-14 | 2017-01-17 | Trapeze Software Ulc | Method and system for vehicle direction determination using adjustable position accelerometer |
-
2016
- 2016-03-17 CN CN201610158633.4A patent/CN105606095B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103900607A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Rotation type strapdown inertial navigation system transposition method based on inertial system |
| CN103900566A (en) * | 2014-03-06 | 2014-07-02 | 哈尔滨工程大学 | Method for eliminating influence on accuracy of rotating modulation strapdown inertial navigation system caused by earth rotation angular velocity |
Non-Patent Citations (2)
| Title |
|---|
| "Vibration Data Acquisition and Visualization System using MEMS Accelerometer";Insan Arafat Jamil;《International Conference on Electrical Engineering and Information & Communication Technology》;20141231;正文第1-6页 * |
| "低成本传感器数据融合技术辅助iPhone导航研究";洪海斌等;《传感器与微系统》;20140630;第33卷(第6期);正文第34-37页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105606095A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110304270A (en) | Omnidirectional emission control method, device, computer equipment for carrier rocket | |
| CN106052682B (en) | A kind of hybrid inertial navigation system and air navigation aid | |
| CN105841698B (en) | A kind of AUV rudder angle precision real time measuring systems without zeroing | |
| CN103175528B (en) | Strap-down compass gesture measurement method based on strap-down inertial navigation system | |
| WO2018066754A1 (en) | Method for estimating attitude of vehicle by using lidar sensor | |
| CN113189875B (en) | Unmanned aerial vehicle robust landing method on mobile platform based on circular features | |
| CN103954303B (en) | A kind of for magnetometric guidance system course angle dynamic calculation and bearing calibration | |
| CN103453907B (en) | Based on the planet approach section Navigation method of stratified atmosphere model | |
| CN109631939B (en) | Rapid alignment method based on magnetometer and accelerometer | |
| CN109131338A (en) | A kind of slope detection method, device and electric car | |
| CN114280332B (en) | Triaxial acceleration sensor correction method | |
| CN102636081A (en) | Transfer alignment method and device based on visual movement modeling | |
| CN105241319B (en) | A kind of guided cartridge of spin at a high speed real-time alignment methods in the air | |
| CN107883951A (en) | A kind of computational methods and terminal of underwater robot 3 d pose | |
| CN106885573A (en) | Towards the motion capture system Real-time Determination of Attitude method of quadrotor | |
| CN105606095B (en) | A kind of method and apparatus of simplified inertial navigation set installation requirement | |
| CN109739088A (en) | A kind of unmanned boat finite time convergence control state observer and its design method | |
| CN103968848A (en) | Navigation method and navigation system based on inertial sensor | |
| CN105241474B (en) | A kind of tilting configuration inertial navigation system scaling method | |
| CN108583938A (en) | A kind of omnidirectional antenna telecommunication satellite attitude control system and its method that can be applied to run on sun synchronization morning and evening track | |
| CN105606093A (en) | Inertial navigation method and device based on real-time gravity compensation | |
| CN112284412B (en) | Ground static alignment method for avoiding precision reduction caused by singular Euler transformation | |
| CN103438899A (en) | Method and system for compensating errors generated by inertia measurement system during moving | |
| CN110514199B (en) | Loop detection method and device of SLAM system | |
| CN108225378A (en) | A kind of computational methods of compass and accelerometer fix error angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: 510000 room 402, No. 11, caipin Road, Science City, Huangpu District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU DEVECENT INFORMATION TECHNOLOGY CO., LTD. Address before: Luogang District Kezhu road Guangzhou City, Guangdong province 510663 No. 232 Building 1 Room 305 301 self Patentee before: GUANGZHOU DEVECENT INFORMATION TECHNOLOGY CO., LTD. |