CN108534744A - A kind of attitude angle acquisition methods, device and handle - Google Patents
A kind of attitude angle acquisition methods, device and handle Download PDFInfo
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- CN108534744A CN108534744A CN201810090975.6A CN201810090975A CN108534744A CN 108534744 A CN108534744 A CN 108534744A CN 201810090975 A CN201810090975 A CN 201810090975A CN 108534744 A CN108534744 A CN 108534744A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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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
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- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a kind of attitude angle acquisition methods, device and handles.The method includes：Utilize the magnetic field intensity of magnetometer measures and the acceleration calculation initial attitude angle of accelerometer measures；Initial attitude angle is updated using the angular speed that gyroscope measures, obtains the attitude angle at current time；According to the cumulative errors of the acceleration of accelerometer measures and the attitude angle computing gyroscope at current time；The angular speed that gyroscope measures is corrected using cumulative errors, the attitude angle of subsequent time is calculated according to revised angular speed, obtains the attitude angle of subsequent time.The present invention has skipped the calibration problem of magnetometer, can be obtained accurate attitude angle using accelerometer and gyroscope, and computational methods are simple, and result of calculation is accurate, reliable.
Description
Technical field
The present invention relates to technical field of navigation and positioning, more particularly to a kind of attitude angle acquisition methods, device and handle.
Background technology
Navigation positioning system is the system for referring to determine the information such as object traveling direction, speed, position in real time.Navigation is fixed
Position system generally use various sensor assemblies measure the kinematic parameter of target.
Magnetometer is the key sensor that attitude angle calculates, but magnetometer is highly susceptible to interfere.Even if magnetometer exists
Similar " 8 " word calibration method has been used to carry out initial calibration during use, if subsequently having hard iron or soft iron interference again, this
Preceding calibration parameter can also fail, and cause magnetometer follow-up data inaccurate.There is the program of some automation real time calibrations at present,
But the deadline of existing calibration procedure is limited to whether magnetometer can get the magnetic field intensity of respective point, real-time in space
It is difficult to be guaranteed.
Invention content
The present invention provides a kind of attitude angle acquisition methods and devices, to solve the calculation of attitude angle in the prior art
Insecure problem.
One aspect of the present invention provides a kind of attitude angle acquisition methods, the method includes：
Initial calibration is carried out to magnetometer using presetting method；
Utilize the magnetic field intensity of the magnetometer measures after calibration and the acceleration calculation initial attitude angle of accelerometer measures；
Initial attitude angle is updated using the angular speed that gyroscope measures, obtains the attitude angle at current time.
Another aspect provides a kind of attitude angle acquisition device, described device includes：
Alignment unit, for carrying out initial calibration to magnetometer using presetting method；
First computing unit, the acceleration for magnetic field intensity and accelerometer measures using the magnetometer measures after calibration
Degree calculates initial attitude angle；
Second computing unit, the angular speed for being measured using gyroscope are updated initial attitude angle, obtain current time
Attitude angle.
Another aspect provides a kind of handle, which includes：
One or more memories, are stored with executable instruction；
One or more processors execute the executable instruction, for realizing attitude angle acquisition methods above.
Beneficial effects of the present invention are：The present invention after obtaining initial attitude angle using the magnetometer after initial calibration, after
The continuous angular speed measured using gyroscope carries out time update to initial attitude angle.I.e. the present invention calculates initial merely with magnetometer
The calculating of attitude angle, follow-up attitude angle will not depend on magnetometer, even if magnetic field environment changes, will not influence posture
The accuracy and reliability at angle.
The attitude angle acquisition methods of the present invention have skipped the calibration problem of magnetometer, utilize accelerometer and gyroscope
Accurate attitude angle is obtained, computational methods are simple, and result of calculation is accurate, reliable.
Description of the drawings
Fig. 1 is the schematic diagram provided in an embodiment of the present invention for calculating attitude angle；
Fig. 2 is the flow chart of attitude angle acquisition methods provided in an embodiment of the present invention；
Fig. 3 is that gyroscope provided in an embodiment of the present invention carries out time newer schematic diagram to initial attitude angle；
Fig. 4 is the schematic diagram provided in an embodiment of the present invention using magnetometer and acceleration calculation attitude angle；
Fig. 5 is the structure diagram of attitude angle acquisition device provided in an embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
The general idea of the present embodiment is：Using three kinds of magnetometer, accelerometer, gyroscope sensors, as shown in Figure 1,
Magnetometer utilizes the magnetic field intensity of magnetometer measures and the initial appearance of the acceleration calculation of accelerometer measures after initial calibration
State angle, the follow-up update that attitude angle is completed by gyroscope, and using the cumulative errors of accelerometer elimination gyroscope, ensure more
The accuracy and reliability of new attitude angle.
Fig. 2 is the flow chart of attitude angle acquisition methods provided in an embodiment of the present invention, as shown in Fig. 2, the side of the present embodiment
Method includes：
S210 carries out initial calibration using presetting method to magnetometer.
The embodiment of the present invention can carry out the calibration of " 8 " word in such a way that " 8 " word is drawn in space to magnetometer, such as use magnetic deviation
The methods of method, simple standardization, least square method carry out initial calibration to magnetometer.The present embodiment does not limit the calibration of magnetometer
Mode can calibrate magnetometer using any calibration method in the prior art, need to only ensure the magnetometer after calibration
It is the exact value when geomagnetic field intensity to measure obtained magnetic field intensity.
S220 utilizes the magnetic field intensity of the magnetometer measures after calibration and the initial appearance of the acceleration calculation of accelerometer measures
State angle.
The present embodiment in magnetometer after initial calibration, if magnetometer by " 8 " word calibration after, the survey of magnetometer at this time
Amount result will remove the influence of soft iron at this time and hard iron, obtain accurately working as geomagnetic field intensity information.
It is accelerometer after calibration that the present embodiment, which is utilized, it is ensured that the acceleration value of accelerometer measures it is accurate
Property, calibration method the present embodiment of accelerometer is not especially limited.
S230 updates initial attitude angle using the angular speed that gyroscope measures, obtains the attitude angle at current time.
As shown in figure 3, the present embodiment carries out the time more on the basis of initial attitude angle, using gyroscope to initial attitude angle
Newly, the angular speed such as measured at the t1 moment using gyroscope is updated initial attitude angle, obtains the attitude angle at t1 moment；Profit
The angular speed measured at the t2 moment with gyroscope is updated the attitude angle at t1 moment, obtains the attitude angle at t2 moment；According to this
The angular speed measured at the tn moment using gyroscope is updated the attitude angle at tn-1 moment, obtains the attitude angle at tn moment.
The present embodiment after obtaining initial attitude angle using the magnetometer after initial calibration, later use gyroscope measure
Angular speed carries out time update to initial attitude angle；I.e. the present embodiment calculates initial attitude angle, follow-up posture merely with magnetometer
The calculating of angle will not depend on magnetometer, even if magnetic field environment changes, will not influence attitude angle accuracy and can
By property.The attitude angle acquisition methods of the present embodiment have skipped the calibration problem of magnetometer, utilize accelerometer and gyroscope
Accurate attitude angle is obtained, computational methods are simple, and result of calculation is accurate, reliable.
In the present embodiment, gyroscope will produce cumulative errors due to itself principle and calculation, this is accumulative
If error cannot be eliminated in time, the inaccuracy of attitude angle result of calculation will be caused.The present embodiment is in utilization gyroscope to posture
When angle carries out time update, gyroscope is calibrated, to eliminate the cumulative errors of gyroscope.
According to an embodiment of the invention, the method in Fig. 2 further includes：
According to the cumulative errors of the acceleration of accelerometer measures and the attitude angle computing gyroscope at current time, using tired
The angular speed that error correction gyroscope measures is counted, the attitude angle of subsequent time is calculated according to revised angular speed, is obtained next
The attitude angle at moment.
Since magnetometer is highly prone to external environment during calculating attitude angle, as the influence of soft iron or hard iron causes
Result of calculation can be unreliable；And accelerometer influenced by external interference during calculating attitude angle it is smaller, alternatively, sharp again
During calculating attitude angle with accelerometer, external interference is easily recognizable to the influence degree of accelerometer, therefore, this implementation
Example utilizes the characteristics of accelerometer, is calibrated to gyroscope by accelerometer, eliminates cumulative errors, it is ensured that newer each
The accuracy and reliability of the attitude angle at moment.
The attitude angle of the present embodiment includes pitch angle, roll angle and course angle, and the present embodiment is calculated just by following methods
Beginning attitude angle：
Using the acceleration calculation roll angle and pitch angle of accelerometer measures, roll angle, pitch angle and magnetometer are utilized
The magnetic field intensity of measurement calculates course angle, obtains initial attitude angle.
According to the present embodiment example, three axis registrations of the acceleration of the accelerometer measures of the present embodiment are respectively
GX、GYAnd GZ, three axis registrations of the magnetic field intensity of magnetometer measures are respectively MX、MYAnd MZ, as shown in figure 3, the present embodiment according to
FormulaCalculate roll angle roll and pitch angle pitch；According to formulaCalculate course angle
Yaw, g are acceleration of gravity, and general value is 9.8ms-2。
It should be noted that the present embodiment is according to formulaWhen calculating pitch angle, due to asin ()
The limitation of function can only carry out the calculating in [- 1,1] range, work as GXWhen ＞ g, formulaIt will be not suitable for.By
In the present embodiment when carrying out the resolving of attitude angle using accelerometer, substantially gives tacit consent to accelerometer acquisition gravity and accelerate
Degree, utilizes decomposition computation pitch angle of the collected acceleration of gravity on three axis (i.e. XYZ coordinate axis).Based on this, this implementation
Another program of example is to utilize formulaThe acceleration of accelerometer measures is obtained, formula is utilizedCalculate pitch angle pitch.Work as GallWhen being not much different with g, formulaWithResult of calculation is identical.
The present embodiment is convenience of calculation, and attitude angle is converted to quaternary number, and after calculating, quaternary number is converted to posture
Angle.The present embodiment utilizes Q=(q1, q2, q3, q4)TAttitude angle is converted into quaternary number Q, wherein q1=cos (pitch/2)
Cos (roll/2) cos (yaw/2)+sin (pitch/2) sin (roll/2) sin (yaw/2), q2=cos (pitch/
2) sin (roll/2) cos (yaw/2)-sin (pitch/2) cos (roll/2) sin (yaw/2), q3=sin
(pitch/2) cos (roll/2) cos (yaw/2)+cos (pitch/2) sin (roll/2) sin (yaw/2), q4=
cos(pitch/2)·cos(roll/2)·sin(yaw/2)-sin(pitch/2)·sin(roll/2)·cos(yaw/2)。
The present embodiment utilizes pitch=-arcsin ((q2q4-q1q3) 2),Quaternary number is converted
For attitude angle.
For the present embodiment after obtaining initial attitude angle, the present embodiment is corresponding with angular speed according to the attitude angle of adjacent moment
Relationship, the attitude angle at the current time corresponding to angular speed and initial attitude angle that computing gyroscope measures.
In the present embodiment, the attitude angle of adjacent moment and the correspondence of angular speed are Qt+1=At·Qt；Wherein, AtFor phase
The quaternary number relational matrix of the attitude angle at adjacent moment,Δ t is gyro
The sampling interval of instrument in practical application, can utilize the gyroscope of doctor company, sampling interval 6ms；Q indicates attitude angle
Quaternary number, t indicate current time, t+1 indicate subsequent time, ωX、ωY、ωZFor three axis registrations of angular speed.
Refering to what is shown in Fig. 3, obtaining the t1 moment in the angular speed update initial attitude angle measured using the gyroscope t1 moment
When attitude angle, three axis registrations of the angular speed that the t1 moment is measured substitute into formula Qt+1=At·QtIn At, by initial attitude angle
Quaternary number substitute into formula Qt+1=At·QtIn Qt, you can the attitude angle quaternary number at t1 moment is obtained, then by the appearance at t1 moment
State angle quaternary number is converted to attitude angle.According to this, initial attitude angle is updated in the angular speed measured using the gyroscope tn moment
When obtaining the attitude angle at tn-1 moment, three axis registrations of the angular speed that the tn moment is measured substitute into formula Qt+1=At·QtIn
At, the quaternary number of the attitude angle at tn-1 moment is substituted into formula Qt+1=At·QtIn Qt, you can obtain the attitude angle at tn moment
Quaternary number, then the attitude angle quaternary number at tn moment is converted into the attitude angle that attitude angle can be obtained the tn moment.
Gyroscope will produce cumulative errors due to itself principle and calculation, if the cumulative errors cannot
It eliminates in time, the inaccuracy of attitude angle result of calculation will be caused.The present embodiment adds in the acceleration satisfaction in accelerometer measures
When speed and the preset relation of acceleration of gravity, using the acceleration calculation roll angle and pitch angle of accelerometer measures, it will count
Roll angle and pitch angle of the obtained roll angle and pitch angle as subsequent time；It is obtained using the angular speed that gyroscope measures
The attitude angle at current time, and course angle of the course angle in the attitude angle at current time as subsequent time is extracted, it will be next
Attitude angle of course angle, roll angle and the pitch angle at moment as subsequent time；According to the attitude angle and angular speed of adjacent moment
Correspondence, calculate the theoretical angular speed corresponding to the attitude angle at current time and the attitude angle of subsequent time；According to calculating
The difference for the angular speed that obtained theoretical angular speed and gyroscope measures, the cumulative errors of computing gyroscope.
The present embodiment is based on, and accelerometer utilizes accelerometer when the acceleration value of measurement is close to gravity acceleration g
The pitch angle and roll angle of calculating are believable conditions, when the acceleration of accelerometer measures meets acceleration and acceleration of gravity
Preset relation when, such as measure acceleration GallValue range be in [0.9g 1.1g] it is interior when, i.e., accelerometer measures plus
Speed meet acceleration be not less than 0.9g, and no more than 1.1g preset relation when, at this time determine accelerometer measures acceleration
Angle value is close to gravity acceleration g, and with reference to figure 4, the pitch angle and roll angle that are calculated at this time using accelerometer are believable, are incited somebody to action
The pitch angle and roll angle calculated using accelerometer is as the roll angle of subsequent time and pitch angle.
The attitude angle at current time can be calculated using gyroscope using previously described method, by current time
The quaternary number of attitude angle is expressed as Qt；Course angle is extracted from the attitude angle at current time, using the course angle of extraction as next
The course angle at moment, using the course angle of the subsequent time of acquisition, roll angle and pitch angle as the attitude angle of subsequent time, will under
The quaternary number of the attitude angle at one moment is expressed as Qt+1, utilize formula Qt+1=At·QtIt can be obtained At, A at this timetIn ωX、
ωY、ωZFor theoretical angular speed.Formula Qt+1=At·QtIt is represented by following equation groups：
In above-mentioned equation group, there are three unknown number ωTheory X、ωTheory Y、ωTheory Z, can be solved by least square method
Equation group is stated, ω is resolvedTheory X、ωTheory Y、ωTheory Z。
It is assumed that the angular speed that gyroscope measures at this time is ωX、ωY、ωZ, accumulative mistake of the gyroscope in XYZ coordinate axis direction
Difference is respectivelyWherein it is possible to according to formulaThree axis cumulative errors are calculatedWhen later use gyroscope carries out time update to attitude angle, formula is utilizedTo gyro
The angular speed that instrument measures is modified, and obtains revised angular velocity omegaX is corrected、ωY is corrected、ωZ is corrected, utilize revised angular speed
The attitude angle for calculating subsequent time, obtains the attitude angle of subsequent time.
Corresponding with attitude angle acquisition methods provided in an embodiment of the present invention, the embodiment of the present invention additionally provides a kind of appearance
State angle acquisition device.
Fig. 5 is the structure diagram of attitude angle acquisition device provided in an embodiment of the present invention, as described in Figure 5, the present embodiment
Device includes：
First computing unit 51, the acceleration calculation for magnetic field intensity and accelerometer measures using magnetometer measures
Initial attitude angle；
Second computing unit 52, the angular speed for being measured using gyroscope are updated initial attitude angle, obtain current time
Attitude angle；
Amending unit 53, for calculating gyro according to the acceleration and the attitude angle at current time of the accelerometer measures
The cumulative errors of instrument；
Second computing unit 52, for correcting the angular speed that gyroscope measures using the cumulative errors, after amendment
Angular speed calculate subsequent time attitude angle, obtain the attitude angle of subsequent time.
According to an embodiment of the invention, the first computing unit includes：Roll angle and pitch angle computing module, add for utilizing
The acceleration calculation roll angle and pitch angle that measurement of velocity measures；Course angle computing module, for utilizing magnetometer measures
Magnetic field intensity and the roll angle, pitch angle calculate course angle, obtain the attitude angle at current time.
Second computing module obtains the angular speed at current time for measuring angular speed using gyroscope；According to it is adjacent when
The attitude angle at quarter and the correspondence of angular speed, the angular speed for calculating current time and the current time corresponding to initial attitude angle
Attitude angle.
Amending unit, the default pass for meeting acceleration and acceleration of gravity in the acceleration of the accelerometer measures
When being, using the acceleration calculation roll angle and pitch angle of accelerometer measures, the roll angle being calculated and pitch angle are made
For the roll angle and pitch angle of subsequent time；The attitude angle at current time is obtained using the angular speed that gyroscope measures, and is extracted
Course angle of the course angle as subsequent time in the attitude angle at current time, by the course angle of subsequent time, roll angle and bows
Attitude angle of the elevation angle as subsequent time；According to the correspondence of the attitude angle of adjacent moment and angular speed, current time is calculated
Attitude angle and subsequent time attitude angle corresponding to theoretical angular speed；According to the theoretical angular speed and gyroscope being calculated
The difference of the angular speed of measurement, the cumulative errors of computing gyroscope.
The attitude angle of adjacent moment in the present embodiment and the correspondence of angular speed are Qt+1=At·Qt；
Wherein,Δ t is the sampling interval of gyroscope, and Q is indicated
The quaternary number of attitude angle, t indicate that current time, t+1 indicate subsequent time, Q=(q1, q2, q3, q4)T, q1=cos (pitch/
2) cos (roll/2) cos (yaw/2)+sin (pitch/2) sin (roll/2) sin (yaw/2), q2=cos
(pitch/2) sin (roll/2) cos (yaw/2)-sin (pitch/2) cos (roll/2) sin (yaw/2), q3=
Sin (pitch/2) cos (roll/2) cos (yaw/2)+cos (pitch/2) sin (roll/2) sin (yaw/2),
Q4=cos (pitch/2) cos (roll/2) sin (yaw/2)-sin (pitch/2) sin (roll/2) cos (yaw/
2), roll indicates that roll angle, pitch indicate that pitch angle, yaw indicate course angle, ωX、ωY、ωZFor three axis registrations of angular speed.
The specific working mode of each unit of calibrating installation embodiment of the present invention may refer to the embodiment of the method for the present invention,
Details are not described herein.
The embodiment of the present invention additionally provides a kind of handle, which can be game paddle.The handle of the present embodiment includes
One or more memories, are stored with executable instruction；One or more processors execute executable instruction, for realizing preceding
The attitude angle acquisition methods of text description.
The present invention also provides a kind of readable storage medium storing program for executing.According to embodiments of the present invention, the readable storage medium storing program for executing, is stored with
Executable instruction, to realize the attitude angle acquisition methods being described above when executable instruction is executed by processor.
It should be noted that the readable storage medium storing program for executing of the embodiment of the present invention, for example, can be can include, store, transmitting,
Propagate or transmit the arbitrary medium of instruction.For example, readable storage medium storing program for executing can include but is not limited to electricity, magnetic, optical, electromagnetic, infrared
Or semiconductor system, device, device or propagation medium.The specific example of readable storage medium storing program for executing includes：Magnetic memory apparatus, such as tape
Or hard disk (HDD)；Light storage device, such as CD (CD-ROM)；Memory, such as random access memory (RAM) or flash memory；With/
Or wire/wireless communication link.
Readable storage medium storing program for executing may include computer program, which may include that code/computer is executable
Instruction makes processor execute for example hereinbefore described method flow and its any deformation when executed by the processor.
Computer program can be configured with such as computer program code including computer program module.For example,
In the exemplary embodiment, the code in computer program may include one or more program modules.It should be noted that module is drawn
Point mode and number are not fixed, and those skilled in the art can use suitable program module or journey according to actual conditions
Sequence block combiner, when the combination of these program modules is executed by processor so that processor can execute for example described above
Method flow and its any deformation.
For the ease of clearly describing the technical solution of the embodiment of the present invention, in the embodiment of invention, use " first ",
Printed words such as " second " distinguish function and the essentially identical identical entry of effect or similar item, and those skilled in the art can manage
The printed words such as solution " first ", " second " are not defined quantity and execution order.
The embodiment of the present invention after obtaining initial attitude angle using the magnetometer after initial calibration, survey by later use gyroscope
The angular speed of amount carries out time update to initial attitude angle, and at no point in the update process, and the tired of gyroscope is eliminated using accelerometer
Count error, it is ensured that the accuracy and reliability of the attitude angle at newer each moment.
The embodiment of the present invention calculates initial attitude angle merely with magnetometer, and the calculating of follow-up attitude angle will not depend on magnetic
Power meter will not influence the accuracy and reliability of attitude angle even if magnetic field environment changes.The posture of the embodiment of the present invention
Angle acquisition methods have skipped the calibration problem of magnetometer, can be obtained accurate attitude angle using accelerometer and gyroscope, meter
Calculation method is simple, and result of calculation is accurate, reliable.
The above description is merely a specific embodiment, under the above-mentioned introduction of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of the above embodiments.It will be understood by those skilled in the art that above-mentioned tool
Body description only preferably explains that the purpose of the present invention, protection scope of the present invention should be subject to the protection scope in claims.
Claims (11)
1. a kind of attitude angle acquisition methods, which is characterized in that the method includes：
Initial calibration is carried out to magnetometer using presetting method；
Utilize the magnetic field intensity of the magnetometer measures after calibration and the acceleration calculation initial attitude angle of accelerometer measures；
Initial attitude angle is updated using the angular speed that gyroscope measures, obtains the attitude angle at current time.
2. attitude angle acquisition methods according to claim 1, which is characterized in that the method further includes：
According to the cumulative errors of the acceleration of the accelerometer measures and the attitude angle computing gyroscope at current time；
The angular speed that gyroscope measures is corrected using the cumulative errors, the appearance of subsequent time is calculated according to revised angular speed
State angle obtains the attitude angle of subsequent time.
3. attitude angle acquisition methods according to claim 1, which is characterized in that the magnetometer measures using after calibration
Magnetic field intensity and accelerometer measures acceleration calculation initial attitude angle, including：
Utilize the acceleration calculation roll angle and pitch angle of accelerometer measures；
Course angle is calculated using the magnetic field intensity of the roll angle, pitch angle and magnetometer measures, obtains initial attitude angle.
4. attitude angle acquisition methods according to claim 1, which is characterized in that the angular speed measured using gyroscope
Initial attitude angle is updated, the attitude angle at current time is obtained, including：
The angular speed and initial attitude angle measured according to the correspondence of the attitude angle of adjacent moment and angular speed, computing gyroscope
The attitude angle at corresponding current time.
5. attitude angle acquisition methods according to claim 2, which is characterized in that described according to the accelerometer measures
The cumulative errors of acceleration and the attitude angle computing gyroscope at current time, including：
When the acceleration of the accelerometer measures meets the preset relation of acceleration and acceleration of gravity, the acceleration is utilized
The acceleration calculation roll angle and pitch angle that degree meter measures, the turning over as subsequent time using the roll angle being calculated and pitch angle
Roll angle and pitch angle；
The attitude angle at current time is obtained using the angular speed that gyroscope measures, and extracts the course in the attitude angle at current time
Course angle of the angle as subsequent time, using the course angle of subsequent time, roll angle and pitch angle as the attitude angle of subsequent time；
According to the correspondence of the attitude angle of adjacent moment and angular speed, the attitude angle at current time and the appearance of subsequent time are calculated
Theoretical angular speed corresponding to state angle；
According to the difference for the angular speed that the theoretical angular speed and gyroscope being calculated measure, the cumulative errors of computing gyroscope.
6. a kind of attitude angle acquisition device, which is characterized in that described device includes：
Alignment unit, for carrying out initial calibration to magnetometer using presetting method；
First computing unit, the accelerometer for magnetic field intensity and accelerometer measures using the magnetometer measures after calibration
Calculate initial attitude angle；
Second computing unit, the angular speed for being measured using gyroscope are updated initial attitude angle, obtain the posture at current time
Angle.
7. attitude angle acquisition device according to claim 6, which is characterized in that described device further includes：Amending unit；
The amending unit, for according to the acceleration of the accelerometer measures and the attitude angle computing gyroscope at current time
Cumulative errors；
Second computing unit, for correcting the angular speed that gyroscope measures using the cumulative errors, according to revised
Angular speed calculates the attitude angle of subsequent time, obtains the attitude angle of subsequent time.
8. attitude angle acquisition device according to claim 6, which is characterized in that first computing unit includes：
Roll angle and pitch angle computing module, the acceleration calculation roll angle for being obtained using accelerometer measures and pitching
Angle；
Course angle computing module, magnetic field intensity and the roll angle, pitch angle for utilizing magnetometer measures calculate course angle,
Obtain the attitude angle at current time.
9. attitude angle acquisition device according to claim 6, which is characterized in that
Second computing module, for according to the attitude angle of adjacent moment and the correspondence of angular speed, computing gyroscope to be surveyed
The attitude angle of the angular speed and the current time corresponding to initial attitude angle of amount.
10. attitude angle acquisition device according to claim 7, which is characterized in that
The amending unit, the default pass for meeting acceleration and acceleration of gravity in the acceleration of the accelerometer measures
When being, using the acceleration calculation roll angle and pitch angle of the accelerometer measures, by the roll angle being calculated and pitching
Roll angle and pitch angle of the angle as subsequent time；The attitude angle at current time is obtained using the angular speed that gyroscope measures, and
Course angle of the course angle in the attitude angle at current time as subsequent time is extracted, by the course angle of subsequent time, roll angle
Attitude angle with pitch angle as subsequent time；According to the correspondence of the attitude angle of adjacent moment and angular speed, calculate current
Theoretical angular speed corresponding to the attitude angle at moment and the attitude angle of subsequent time；According to the theoretical angular speed and top being calculated
The difference for the angular speed that spiral shell instrument measures, the cumulative errors of computing gyroscope.
11. a kind of handle, which is characterized in that the handle includes：
One or more memories, are stored with executable instruction；
One or more processors execute the executable instruction, for realizing side as described in any one in claim 1-5
Method.
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| CN201810090975.6A CN108534744A (en) | 2018-01-30 | 2018-01-30 | A kind of attitude angle acquisition methods, device and handle |
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| CN110779553A (en) * | 2019-12-03 | 2020-02-11 | 中国科学院电子学研究所 | Calibration method for magnetometer data |
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| CN112066984A (en) * | 2020-09-17 | 2020-12-11 | 深圳维特智能科技有限公司 | Attitude angle resolving method and device, processing equipment and storage medium |
| CN112860823A (en) * | 2021-01-08 | 2021-05-28 | 腾讯科技（深圳）有限公司 | Terminal pointing display method and device, storage medium and electronic equipment |
| TWI765509B (en) * | 2020-12-31 | 2022-05-21 | 群光電子股份有限公司 | Pointing device and control method thereof |
| CN117516465A (en) * | 2024-01-04 | 2024-02-06 | 北京神导科技股份有限公司 | Inertial navigation system attitude angle extraction method capable of avoiding jump |
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| CN117516465A (en) * | 2024-01-04 | 2024-02-06 | 北京神导科技股份有限公司 | Inertial navigation system attitude angle extraction method capable of avoiding jump |
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Application publication date: 20180914 |