CN106979780A - 一种无人车实时姿态测量方法 - Google Patents
一种无人车实时姿态测量方法 Download PDFInfo
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- CN106979780A CN106979780A CN201710361151.3A CN201710361151A CN106979780A CN 106979780 A CN106979780 A CN 106979780A CN 201710361151 A CN201710361151 A CN 201710361151A CN 106979780 A CN106979780 A CN 106979780A
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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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
- G01C21/165—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 combined with non-inertial navigation instruments
- G01C21/1654—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 combined with non-inertial navigation instruments with electromagnetic compass
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- Physics & Mathematics (AREA)
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- Electromagnetism (AREA)
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Priority Applications (2)
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CN201710361151.3A CN106979780B (zh) | 2017-05-22 | 2017-05-22 | 一种无人车实时姿态测量方法 |
PCT/CN2017/090676 WO2018214227A1 (zh) | 2017-05-22 | 2017-06-29 | 一种无人车实时姿态测量方法 |
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CN201710361151.3A CN106979780B (zh) | 2017-05-22 | 2017-05-22 | 一种无人车实时姿态测量方法 |
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CN106979780A true CN106979780A (zh) | 2017-07-25 |
CN106979780B CN106979780B (zh) | 2019-06-14 |
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CN201710361151.3A Active CN106979780B (zh) | 2017-05-22 | 2017-05-22 | 一种无人车实时姿态测量方法 |
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CN (1) | CN106979780B (zh) |
WO (1) | WO2018214227A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108225308A (zh) * | 2017-11-23 | 2018-06-29 | 东南大学 | 一种基于四元数的扩展卡尔曼滤波算法的姿态解算方法 |
CN110095118A (zh) * | 2019-06-03 | 2019-08-06 | 北京理工大学 | 一种车身姿态角的实时测量方法及系统 |
CN113370722A (zh) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | 基于外部突发状况的三轴无人车应对策略方法及系统 |
Families Citing this family (9)
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CN110895325B (zh) * | 2019-11-28 | 2024-01-05 | 绍兴市上虞区舜兴电力有限公司 | 基于增强四元数多重信号分类的到达角估计方法 |
CN111141313B (zh) * | 2020-01-06 | 2023-04-07 | 西安理工大学 | 一种提高机载局部相对姿态匹配传递对准精度的方法 |
CN111207745B (zh) * | 2020-02-20 | 2023-07-25 | 北京星际导控科技有限责任公司 | 一种适用于大机动无人机垂直陀螺仪的惯性测量方法 |
CN111625768B (zh) * | 2020-05-19 | 2023-05-30 | 西安因诺航空科技有限公司 | 一种基于扩展卡尔曼滤波的手持云台姿态估计方法 |
CN112284388B (zh) * | 2020-09-25 | 2024-01-30 | 北京理工大学 | 一种无人机多源信息融合导航方法 |
CN114313303B (zh) * | 2020-09-30 | 2023-10-13 | 北京振兴计量测试研究所 | 一种无人机飞行性能的检测设备、系统及检测方法 |
CN112762925A (zh) * | 2020-12-28 | 2021-05-07 | 东方红卫星移动通信有限公司 | 一种基于地磁计和陀螺仪的低轨卫星定姿方法 |
CN113551665B (zh) * | 2021-06-25 | 2023-08-11 | 中国科学院国家空间科学中心 | 一种用于运动载体的高动态运动状态感知系统及感知方法 |
CN116519254B (zh) * | 2023-07-04 | 2023-10-03 | 中国空气动力研究与发展中心高速空气动力研究所 | 一种无人机飞行方法 |
Citations (6)
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CN101290229A (zh) * | 2008-06-13 | 2008-10-22 | 哈尔滨工程大学 | 硅微航姿系统惯性/地磁组合方法 |
CN101915580A (zh) * | 2010-07-14 | 2010-12-15 | 中国科学院自动化研究所 | 一种基于微惯性和地磁技术的自适应三维姿态定位方法 |
CN102183260A (zh) * | 2011-03-21 | 2011-09-14 | 哈尔滨工程大学 | 低成本无人车导航方法 |
US20140122015A1 (en) * | 2012-10-30 | 2014-05-01 | Yamaha Corporation | Attitude estimation method and apparatus |
CN103776451A (zh) * | 2014-03-04 | 2014-05-07 | 哈尔滨工业大学 | 一种基于mems的高精度三维姿态惯性测量系统以及测量方法 |
CN104698485A (zh) * | 2015-01-09 | 2015-06-10 | 中国电子科技集团公司第三十八研究所 | 基于bd、gps及mems的组合导航系统及导航方法 |
Family Cites Families (6)
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ES2238936B1 (es) * | 2004-02-27 | 2006-11-16 | INSTITUTO NACIONAL DE TECNICA AEROESPACIAL "ESTEBAN TERRADAS" | Sistema y metodo de fusion de sensores para estimar posicion, velocidad y orientacion de un vehiculo, especialmente una aeronave. |
CN101033973B (zh) * | 2007-04-10 | 2010-05-19 | 南京航空航天大学 | 微小型飞行器微惯性组合导航系统的姿态确定方法 |
CN100559125C (zh) * | 2007-05-25 | 2009-11-11 | 北京航空航天大学 | 一种基于Euler-q算法和DD2滤波的航天器姿态确定方法 |
US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
CN101131311B (zh) * | 2007-10-15 | 2010-04-21 | 北京航空航天大学 | 一种智能化机载导弹动基座对准及标定方法 |
CN100541135C (zh) * | 2007-12-18 | 2009-09-16 | 哈尔滨工程大学 | 基于多普勒的光纤陀螺捷联惯导系统初始姿态确定方法 |
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2017
- 2017-05-22 CN CN201710361151.3A patent/CN106979780B/zh active Active
- 2017-06-29 WO PCT/CN2017/090676 patent/WO2018214227A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101290229A (zh) * | 2008-06-13 | 2008-10-22 | 哈尔滨工程大学 | 硅微航姿系统惯性/地磁组合方法 |
CN101915580A (zh) * | 2010-07-14 | 2010-12-15 | 中国科学院自动化研究所 | 一种基于微惯性和地磁技术的自适应三维姿态定位方法 |
CN102183260A (zh) * | 2011-03-21 | 2011-09-14 | 哈尔滨工程大学 | 低成本无人车导航方法 |
US20140122015A1 (en) * | 2012-10-30 | 2014-05-01 | Yamaha Corporation | Attitude estimation method and apparatus |
CN103776451A (zh) * | 2014-03-04 | 2014-05-07 | 哈尔滨工业大学 | 一种基于mems的高精度三维姿态惯性测量系统以及测量方法 |
CN104698485A (zh) * | 2015-01-09 | 2015-06-10 | 中国电子科技集团公司第三十八研究所 | 基于bd、gps及mems的组合导航系统及导航方法 |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108225308A (zh) * | 2017-11-23 | 2018-06-29 | 东南大学 | 一种基于四元数的扩展卡尔曼滤波算法的姿态解算方法 |
CN108225308B (zh) * | 2017-11-23 | 2021-06-25 | 东南大学 | 一种基于四元数的扩展卡尔曼滤波算法的姿态解算方法 |
CN110095118A (zh) * | 2019-06-03 | 2019-08-06 | 北京理工大学 | 一种车身姿态角的实时测量方法及系统 |
CN113370722A (zh) * | 2021-07-29 | 2021-09-10 | 中国人民解放军国防科技大学 | 基于外部突发状况的三轴无人车应对策略方法及系统 |
CN113370722B (zh) * | 2021-07-29 | 2022-05-27 | 中国人民解放军国防科技大学 | 基于外部突发状况的三轴无人车应对策略方法及系统 |
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Publication number | Publication date |
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CN106979780B (zh) | 2019-06-14 |
WO2018214227A1 (zh) | 2018-11-29 |
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