CN108592918A - The full attitude algorithm method of MEMS IMU under swaying base - Google Patents
The full attitude algorithm method of MEMS IMU under swaying base Download PDFInfo
- Publication number
- CN108592918A CN108592918A CN201810386317.1A CN201810386317A CN108592918A CN 108592918 A CN108592918 A CN 108592918A CN 201810386317 A CN201810386317 A CN 201810386317A CN 108592918 A CN108592918 A CN 108592918A
- Authority
- CN
- China
- Prior art keywords
- mems
- coordinate system
- imu
- systems
- attitude algorithm
- 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.)
- Pending
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
- G01C21/20—Instruments for performing navigational calculations
-
- 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 invention discloses the full attitude algorithm methods of MEMS IMU under swaying base a kind of, wherein method includes the following steps：Definition meets the coordinate system of preset rules；Under the coordinate system of definition so that MEMSIMU is rotated by positive and negative continuous rotation mode；The data of MEMS inertia devices when acquisition rotation；The full attitude algorithm result of MEMSIMU is obtained by the fusion of inertial system alignment algorithm and Mahony algorithms according to the data of MEMS inertia devices.This method does not need the auxiliary informations such as satellite or magnetometer, it can be realized as certain full attitude algorithm accuracy, effectively increase the accuracy of resolving, this has significant application value in no satellite-signal or magnetic interference environment, MEMS IMU have many advantages, such as of low cost, small, shock resistance, it is widely used, the present invention effectively increases its applicability.
Description
Technical field
The present invention relates to field of inertia technology, more particularly to MEMS IMU (Micro-Electro- under a kind of swaying base
Mechanical SystemInertial Measurement Unit, micro electro mechanical inertia measuring unit) full attitude algorithm side
Method.
Background technology
With the rapid development of inertial technology, MEMS IMU have more and more applications in inertial navigation field.MEMS
IMU have the advantages that it is at low cost, small, light-weight, shock proof, unmanned plane, individual soldier's navigation, robot, wearable device,
The fields such as attitude heading reference system have applies relatively broadly, therefore studies MEMS IMU and be of great significance.
Since MEMS inertia devices have larger constant value deviation, so if directly carrying out attitude algorithm can cause very greatly
Error.In order to reduce the influence of MEMS inertia device constant value deviations, the attitude algorithm accuracy of MEMS IMU is improved, on the one hand may be used
To improve technology, to promote device precision, but this mode period is long, of high cost；On the other hand using system-level
Error suppression technology reduces the influence of MEMS inertia device constant errors by rotation modulation, so that the appearance of MEMS IMU
State resolving can reach certain precision.
Rotation modulation technology is applied in MEMS gyro north finder, but MEMS gyro north finder can only be quiet
It is realized under the conditions of pedestal and seeks north, when there is extraneous the case where shaking, missed by a mile, full attitude algorithm cannot be carried out.And engine
Vibration or passenger getting on/off is caused to cause the vehicle shaken, the canoe etc. of moored condition that can regard as swaying base, therefore
How to realize that the full attitude algorithm of MEMS IMU is of great significance and application demand on swaying base.
In the related technology, the north of seeking under quiet pedestal is realized by single-shaft-rotation modulation, but cannot be enterprising in swaying base
Row attitude algorithm；Attitude algorithm is realized using magnetometer and Kalman filtering algorithm, is disadvantageous in that and introduces magnetometer, is held
It is vulnerable to the interference of electromagnetic equipment, full attitude algorithm cannot be directly realized by according only to the output data of MEMS IMU, limit it
Application range.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide the full attitude algorithm method of MEMS IMU under swaying base a kind of,
This method is widely used, and can effectively improve the applicability of MEMS IMU, effectively improves the precision of its full attitude algorithm.
In order to achieve the above objectives, the embodiment of the present invention proposes the full attitude algorithm side of MEMS IMU under swaying base a kind of
Method includes the following steps：Definition meets the coordinate system of preset rules；Under the coordinate system of definition so that MEMS IMU are pressed
Positive and negative continuous rotation mode is rotated；The data of MEMS inertia devices when acquisition rotation；According to the MEMS inertia devices
Data obtain the full attitude algorithm result of the MEMS IMU by the fusion of inertial system alignment algorithm and Mahony algorithms.
The full attitude algorithm method of MEMS IMU, does not need satellite or magnetometer etc. under the swaying base of the embodiment of the present invention
Auxiliary information, it will be able to realize certain full attitude algorithm accuracy, effectively increase the accuracy of resolving, this is in no satellite-signal
Or have many advantages, such as that significant application value, MEMS IMU have of low cost, small, shock resistance, answer in magnetic interference environment
With extensive, the present invention can effectively improve its applicability.
In addition, the full attitude algorithm method of MEMS IMU can also have under swaying base according to the above embodiment of the present invention
There is following additional technical characteristic：
Further, in one embodiment of the invention, the preset rules are the right-hand rule, wherein the coordinate
System include navigational coordinate system n systems, carrier coordinate system b systems, IMU coordinate system s systems, terrestrial coordinate system e systems, inertial coodinate system i systems,
Pedestal inertial coodinate system ib0System.
Further, in one embodiment of the invention, described so that MEMS IMU by positive and negative continuous rotation mode into
Row rotation, further comprises：It carves at the beginning, the IMU coordinate systems s systems overlap with carrier coordinate system b systems；So that described
MEMS IMU first rotate in the forward direction 360 degree around z-axis with angular velocity omega=20 °/s, then reversely with angular velocity omega=20 °/s rotations 360
Degree, and uniaxial positive and negative alternate continuous rotation.
Further, in one embodiment of the invention, the data according to the MEMS inertia devices, by used
The fusion of property system's alignment algorithm and Mahony algorithms, obtains the full attitude algorithm of the MEMS IMU as a result, further comprising：Root
The transformational relation matrix between different coordinates is determined according to the inertial system alignment algorithm, according between each coordinate system
Transition matrix obtains pitch angle, roll angle, course angle from the extracting data of the micro electronmechanical MEMS inertia devices；According to described
Mahony algorithms, the low frequency Attitude estimation that the data of accelerometer in the MEMS IMU are obtained carry out low-pass filtering, and right
Gyroscope exports the high frequency Attitude estimation that direct integral obtains and carries out high-pass filtering, and merges the Attitude estimation information of the two, with
Resolve horizontal attitude angle；The pitch angle and the roll angle are corrected according to the Mahony algorithms, according to revised described
Pitch angle, the revised roll angle, the course angle realize full attitude algorithm.
Further, in one embodiment of the invention, wherein the navigational coordinate system and the inertial coodinate system
Transition matrix
Wherein, ωieFor earth rotation angular speed, L is the latitude of carrier position, and Δ t is carrier time interval；It is described
Transition matrix between pedestal inertial coodinate system and the IMU coordinate systems
WhereinFor the output data of gyro；Conversion between the inertial coodinate system and the pedestal inertial coodinate system
Matrix
Wherein, according to tk1、tk2Moment (t0<tk1<tk2) velocity amplitude V (tk1)、V(tk2) structure auxiliary vector V (tk1)×V
(tk2),For the velocity amplitude under the pedestal inertial coodinate system, Vi(tk) it is velocity amplitude of the acceleration of gravity under inertial system.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
Above-mentioned and/or additional aspect and advantage of the invention, will become from the following description of the accompanying drawings of embodiments
It obtains obviously and is readily appreciated that, wherein：
Fig. 1 is the flow according to the full attitude algorithm method of MEMS IMU under the swaying base of one embodiment of the invention
Figure；
Fig. 2 is the stream of the full attitude algorithm method of MEMS IMU under the swaying base according to a specific embodiment of the invention
Cheng Tu；
Fig. 3 is the coordinate system schematic diagram according to one embodiment of the invention；
Fig. 4 is the schematic diagram according to the rotation approach of the use of one embodiment of the invention；
Fig. 5 is the inertial system alignment algorithm schematic diagram according to one embodiment of the invention；
Fig. 6 is the schematic diagram according to the Mahony algorithms of one embodiment of the invention；
Fig. 7 is the variation diagram that the pitch angle that experiment resolves is waved according to a turntable of one embodiment of the invention；
Fig. 8 is the variation diagram that the roll angle that experiment resolves is waved according to a turntable of one embodiment of the invention；
Fig. 9 is the variation diagram that the course angle that experiment resolves is waved according to a turntable of one embodiment of the invention；
Figure 10 is each mould according to the full attitude algorithm method of MEMS IMU under the swaying base of one embodiment of the invention
Block schematic diagram.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The full attitude algorithm of MEMS IMU under the swaying base proposed according to embodiments of the present invention is described with reference to the accompanying drawings
Method.
Fig. 1 be one embodiment of the invention swaying base under MEMS IMU full attitude algorithm method flow chart.
As shown in Figure 1, the full attitude algorithm method of MEMS IMU includes the following steps under the swaying base：
In step S101, definition meets the coordinate system of preset rules.
It is understood that as shown in Fig. 2, first, the embodiment of the present invention carries out the definition of coordinate system.
In one embodiment of the invention, as shown in figure 3, preset rules are the right-hand rule, wherein coordinate system includes leading
Navigate coordinate system n systems, carrier coordinate system b systems, IMU coordinate system s systems, terrestrial coordinate system e systems, inertial coodinate system i systems, pedestal inertia seat
Mark system ib0System.
In step s 102, under the coordinate system of definition so that MEMS IMU are rotated by positive and negative continuous rotation mode.
It is understood that as shown in Fig. 2, MEMS IMU are rotated by the scheme of positive and negative continuous rotation.
Further, in one embodiment of the invention so that MEMS IMU are revolved by positive and negative continuous rotation mode
Turn, further comprises：It carves at the beginning, IMU coordinate system s systems overlap with carrier coordinate system b systems；So that MEMS IMU are first around z-axis
360 degree are rotated in the forward direction with angular velocity omega=20 °/s, then is reversely rotated by 360 ° with angular velocity omega=20 °/s, and uniaxial reciprocal cross
For continuous rotation.
It is understood that as shown in figure 4, initial time IMU coordinate system s systems overlap with carrier coordinate system b systems, then
IMU is first rotated by 360 ° around z-axis positive (counterclockwise) with angular velocity omega=20 °/s, then reversely (clockwise) with angular velocity omega=
20 °/s is rotated by 360 °, uniaxial positive and negative alternate continuous rotation.
In step s 103, the data of MEMS inertia devices when acquisition rotates.
It is understood that as shown in Fig. 2, obtaining the data of MEMS inertia devices.Rotation modulation is used in MEMS IMU
In the case of technology, the data of MEMS inertia devices are obtained, the data of MEMS gyro and mems accelerometer are included.
In step S104, according to the data of MEMS inertia devices, pass through inertial system alignment algorithm and Mahony algorithms
Fusion, obtains the full attitude algorithm result of MEMSIMU.
It is understood that as shown in Fig. 2, the fusion of inertial system alignment algorithm and Mahony algorithms, realizes MEMSIMU
Full attitude algorithm.
Further, in one embodiment of the invention, it according to the data of MEMS inertia devices, is aligned by inertial system
The fusion of algorithm and Mahony algorithms obtains the full attitude algorithm of MEMS IMU as a result, further comprising：It is aligned according to inertial system
Algorithm determines the transformational relation matrix between different coordinates, according to the transition matrix between each coordinate system from MEMS inertia
The extracting data of device obtains pitch angle, roll angle, course angle；According to Mahony algorithms by accelerometer in MEMS IMU
Data obtain low frequency Attitude estimation carry out low-pass filtering, and to gyroscope output direct integral obtain high frequency Attitude estimation into
Row high-pass filtering, and the Attitude estimation information of the two is merged, to resolve horizontal attitude angle；Pitching is corrected according to Mahony algorithms
Angle and roll angle realize full attitude algorithm according to revised pitch angle, revised roll angle, course angle.
In one embodiment of the invention, wherein the transition matrix of navigational coordinate system and inertial coodinate system
Wherein, ωieFor earth rotation angular speed, L is the latitude of carrier position, and Δ t is carrier time interval；Pedestal
Transition matrix between inertial coodinate system and IMU coordinate systems
WhereinFor the output data of gyro；Transition matrix between inertial coodinate system and pedestal inertial coodinate system
Wherein, according to tk1、tk2Moment (t0<tk1<tk2) velocity amplitude V (tk1)、V(tk2) structure auxiliary vector V (tk1)×V
(tk2),For the velocity amplitude under pedestal inertial coodinate system, Vi(tk) it is velocity amplitude of the acceleration of gravity under inertial system.
Specifically, (1) as shown in figure 5, inertial system alignment algorithm it needs to be determined that transformational relation between different coordinates
Matrix.According to the mutual alignment relation of coordinate system and the latitude L and time interval of delta t of carrier position, determine that navigation is sat
The transition matrix of mark system and inertial coodinate systemIn swaying base environment, disturbance angle velocity is much larger than rotational-angular velocity of the earth,
Unrenewable analytic expression alignment algorithm.By introducing pedestal inertial coodinate system ib0System, according to earth rotation angular velocity omegaieAnd when
Between interval of delta t can extrapolate the north orientation information of the earth, this is just in conjunction with the variation in gravity acceleration g direction in inertial space
It is the basic principle of inertial system alignment algorithm.Inertial system alignment algorithm is it needs to be determined that transformational relation square between different coordinates
Battle array.According to the mutual alignment relation of coordinate system and the latitude L and time interval of delta t of carrier position, navigation coordinate is determined
The transition matrix of system and inertial coodinate system
Wherein ωieFor earth rotation angular speed.
Transition matrix between pedestal inertial coodinate system and IMU coordinate systemsUsing Quaternion Method to direction cosine matrix
The differential equationIt is updated, whereinFor the output data of gyro.
Determine the transition matrix between inertial coodinate system and pedestal inertial coodinate system
Due to the rotation of the earth, the acceleration of gravity under inertial coodinate system is an amount changed over time, can be indicated
For：
In formula, Δ tk=tk-t0It is and initial time t0Time interval.
To giIt is integrated, velocity amplitude of the acceleration of gravity under inertial system can be obtained, be expressed as：
Velocity amplitude under pedestal inertial coodinate system can be expressed as：
Wherein fsFor accelerometer output data
Then have：
Utilize tk1、tk2Moment (t0<tk1<tk2) velocity amplitude V (tk1)、V(tk2) structure auxiliary vector V (tk1)×V(tk2)、
V(tk1)×V(tk2)×V(tk1), it can obtainMethod for solving：
According to the transition matrix of the calculated each coordinate system of above-mentioned steps, calculate
AgainWhereinThe angle measured by angle measurement element can be calculated, to obtainExpression formula,
Then the attitude angle of carrier can be obtained by extracting pitch angle, roll angle, course angle, to complete under inertial system alignment algorithm
Attitude algorithm.
(2) as shown in fig. 6, Mahony algorithms resolve horizontal attitude angle.Due to calculatingWhen, directly use gyro number
According to newer mode, the constant value deviation of gyro can influence attitude algorithm accuracy, despite the use of rotation modulation technology, but in reality
In the application of border, the constant value drift of gyro can be slowly varying, can reduce the effect of rotation modulation.Mahony algorithms can further disappear
Except the influence of MEMS inertia device constant value deviations, pass through the low frequency Attitude estimation for obtaining the data of accelerometer in MEMS IMU
Low-pass filtering is carried out, and the high frequency Attitude estimation obtained to gyroscope output direct integral carries out high-pass filtering, and merges the two
Attitude estimation information, to attitude algorithm accuracy of improving the standard.
The inertia direction of measurement is utilized in Mahony algorithmsWith the angular speed measuredInertia directionFrom estimation
Best gravity direction：
The calculating process of Mahony algorithms：
δ=kp·e+kI∫ e, (3)
In formula,Indicate the gravity vector in s systems；Indicate the quaternary number of posture estimation；δ is adjusted by PI
The new breath generated；E indicates the inertia direction measuredWith the vector direction of predictionBetween relative error.kpAnd kIIt is ratio product
The parameter for dividing link, the crossover frequency being respectively used between control accelerometer and gyroscope and correction gyro error.
Gravity vector can be expressed as in s systems：
It is a=(a to enable the reading of accelerometerx,ax,az)T, in swaying base, haveThen have：
At this point,WithMultiplication cross can obtain error amount e, and gyroscope is corrected using the error amount and formula 3, formula 4：
And update quaternary number by solving the differential equation：
Quaternary number is standardized：
Convert versor to pitch angle, roll angle, course angle.Since Mahony algorithms can improve the standard appearance
State precision, azimuth do not have physical meaning, therefore can correct the inertial system alignment algorithm based on rotation modulation technology and calculate
Pitch angle and roll angle, and course angle is still the course angle that calculates of inertial system alignment algorithm, passes through the fusion of two kinds of algorithms
Improve the full attitude algorithm accuracy of MEMS IMU.
In one particular embodiment of the present invention, the embodiment of the present invention carries out turntable experiment, verification using MEMS IMU
The practicability and reliability of algorithm carry out 10 experiments altogether.
The turntable parameter tested every time is set as：Inside casing waves 6 ° of amplitude, frequency 0.125Hz；Center waves 10 ° of amplitude,
Frequency 0.1Hz；Outline border positive and negative alternate rotates 20 °/s.The random walk of gyro10 °/h of repeatability, accelerometer
Bias instaility 60 μ g, sample frequency 100Hz, sampling time 5min.
In order to verify the stability of alignment result, turntable is tested every time and is all parked in identical position, corresponding practical posture
Angle is 0 ° of pitch angle, 0 ° of roll angle, 166 ° of course angle.Therefore according to the calculated all-attitude angle of institute of the invention and practical attitude angle
It is compared, so that it may to verify the reliability of proposition method of the present invention.The full attitude algorithm result of turntable experiment is counted such as 1 institute of table
Show, wherein table 1 is the full attitude algorithm result statistical form of turntable experiment.
Table 1
| Serial number | Pitch angle (°) | Roll angle (°) | Course angle (°) |
| 1 | -0.0245 | 0.0360 | 164.85 |
| 2 | -0.0241 | 0.0342 | 165.44 |
| 3 | -0.0332 | 0.0364 | 164.68 |
| 4 | -0.0432 | 0.0406 | 166.61 |
| 5 | -0.0417 | 0.0311 | 165.83 |
| 6 | -0.0505 | 0.0278 | 167.41 |
| 7 | -0.0258 | 0.0201 | 164.91 |
| 8 | -0.0358 | 0.0371 | 164.99 |
| 9 | -0.0415 | 0.0402 | 165.19 |
| 10 | -0.0368 | 0.0387 | 167.36 |
According to table 1 and Fig. 7,8 and 9, can obtain, the calculated pitch angle of method of the embodiment of the present invention and roll angle
Average value is respectively -0.036 ° and 0.034 °, and if only using inertial system alignment algorithm, the mean value of pitch angle and roll angle
Respectively -0.125 ° and 0.432 °, it is seen that the Mahony algorithms that the present invention merges further improve horizontal attitude and resolve essence
Degree；The average value of course angle is 165.75 °, and standard deviation is 1.04 °.Full attitude algorithm accuracy disclosure satisfy that practical application request.
Therefore, the method for the embodiment of the present invention to MEMS IMU by using rotation modulation technology, Mahony algorithms, inertia
It is the fusion of alignment algorithm, can realizes certain full attitude algorithm accuracy, and without relying on the extraneous letter such as satellite, magnetometer
Breath, so as to expand the application range of MEMS IMU significantly.
The full attitude algorithm method of MEMS IMU under the swaying base proposed according to embodiments of the present invention does not need extraneous auxiliary
It helps, by rotation modulation technology, the fusion of inertial system alignment algorithm, Mahony algorithms, improves the full posture solution of MEMS IMU
Precision is calculated, (magnetometer can not work normally) has important application valence in no satellite-signal or in having electromagnetic equipment interference environment for this
Value；It is sought by using velocity vectorRather than the direct output data of MEMS inertia devices, this is smooth to a certain extent
The random noise of inertia device, improves computational accuracy；Mahony algorithms can further decrease the shadow of gyroscope constant value drift
It rings, algorithm idea has merged the output data of accelerometer and gyro, and calculation amount is small, this is requiring horizontal accuracy high field
Closing has important engineering application value；Blending algorithm can realize full attitude algorithm under quiet pedestal or swaying base, significantly
Application range is expanded；MEMS IMU have many advantages, such as small, at low cost, shock resistance, in small sweeper, unmanned plane, pedestrian
The fields such as navigation, robot, attitude heading reference system have widely application, therefore the present invention has important answer in these fields
With value.
The full attitude algorithm of MEMS IMU under the swaying base proposed according to embodiments of the present invention referring next to attached drawing description
Each module diagram of method.
Figure 10 be one embodiment of the invention swaying base under MEMS IMU each module signal of full attitude algorithm method
Figure.
As shown in Figure 10, each module of the full attitude algorithm method of MEMS IMU 10 includes under the swaying base：Definition module
100, rotary module 200, acquisition module 300 and processing module 400.
Wherein, definition module 100 is for defining the coordinate system for meeting preset rules.Rotary module 200 is used in definition
Under coordinate system so that MEMS IMU are rotated by positive and negative continuous rotation mode.When acquisition module 300 is for acquiring rotation
The data of MEMS inertia devices.Processing module 400 is used for according to the data of MEMS inertia devices, by inertial system alignment algorithm and
The fusion of Mahony algorithms obtains the full attitude algorithm result of MEMS IMU.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (5)
1. the full attitude algorithm method of MEMS IMU under a kind of swaying base, which is characterized in that include the following steps：
Definition meets the coordinate system of preset rules；
Under the coordinate system of definition so that MEMSIMU is rotated by positive and negative continuous rotation mode；
The data of MEMS inertia devices when acquisition rotation；And
According to the data of the MEMS inertia devices, by the fusion of inertial system alignment algorithm and Mahony algorithms, obtain described
The full attitude algorithm result of MEMSIMU.
2. the full attitude algorithm method of MEMS IMU under swaying base according to claim 1, which is characterized in that described pre-
If rule be the right-hand rule, wherein the coordinate system include navigational coordinate system n systems, carrier coordinate system b systems, IMU coordinate system s systems,
Terrestrial coordinate system e systems, inertial coodinate system i systems, pedestal inertial coodinate system ib0System.
3. the full attitude algorithm method of MEMS IMU under swaying base according to claim 2, which is characterized in that described to make
It obtains MEMSIMU to be rotated by positive and negative continuous rotation mode, further comprise：
It carves at the beginning, the IMU coordinate systems s systems overlap with carrier coordinate system b systems；
So that the MEMSIMU first rotates in the forward direction 360 degree around z-axis with angular velocity omega=20 °/s, then reversely with angular velocity omega=
20 °/s is rotated by 360 °, and uniaxial positive and negative alternate continuous rotation.
4. the full attitude algorithm method of MEMS IMU under swaying base according to claim 3, which is characterized in that described
The MEMSIMU is obtained by the fusion of inertial system alignment algorithm and Mahony algorithms according to the data of the MEMS inertia devices
Full attitude algorithm as a result, further comprising：
According to the inertial system alignment algorithm, the transformational relation matrix between different coordinates is determined, according to each coordinate
Transition matrix between system obtains pitch angle, roll angle, course angle from the extracting data of the MEMS inertia devices；
According to the Mahony algorithms, the low frequency Attitude estimation that the data of accelerometer in the MEMSIMU are obtained carries out low
Pass filter, and the high frequency Attitude estimation obtained to gyroscope output direct integral carries out high-pass filtering, and merge the posture of the two
Estimated information, to resolve horizontal attitude angle；
The pitch angle and the roll angle are corrected according to the Mahony algorithms, according to the revised pitch angle, amendment
The roll angle afterwards, the course angle realize full attitude algorithm.
5. according to the full attitude algorithm method of MEMS IMU under claim 1-4 any one of them swaying bases, feature exists
In, wherein
The transition matrix of the navigational coordinate system and the inertial coodinate system
Wherein, ωieFor earth rotation angular speed, L is the latitude of carrier position, and Δ t is carrier time interval；
Transition matrix between the pedestal inertial coodinate system and the IMU coordinate systems
WhereinFor the output data of gyro；
Transition matrix between the inertial coodinate system and the pedestal inertial coodinate system
Wherein, according to tk1、tk2Moment (t0<tk1<tk2) velocity amplitude V (tk1)、V(tk2) structure auxiliary vector V (tk1)×V
(tk2),For the velocity amplitude under the pedestal inertial coodinate system, Vi(tk) it is velocity amplitude of the acceleration of gravity under inertial system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810386317.1A CN108592918A (en) | 2018-04-26 | 2018-04-26 | The full attitude algorithm method of MEMS IMU under swaying base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810386317.1A CN108592918A (en) | 2018-04-26 | 2018-04-26 | The full attitude algorithm method of MEMS IMU under swaying base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108592918A true CN108592918A (en) | 2018-09-28 |
Family
ID=63610284
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810386317.1A Pending CN108592918A (en) | 2018-04-26 | 2018-04-26 | The full attitude algorithm method of MEMS IMU under swaying base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108592918A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110514228A (en) * | 2019-09-02 | 2019-11-29 | 哈尔滨工业大学 | Small and micro-satellite navigation attitude measuring system dynamic comprehensive performance testing device and method |
| CN111551175A (en) * | 2020-05-27 | 2020-08-18 | 北京计算机技术及应用研究所 | Complementary filtering attitude calculation method of attitude heading reference system |
| CN111879325A (en) * | 2020-08-05 | 2020-11-03 | 东北大学 | IMU attitude angle estimation method with high precision and anti-interference capability |
| CN111879325B (en) * | 2020-08-05 | 2024-07-30 | 东北大学 | IMU attitude angle estimation method with high precision and anti-interference capability |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148854A (en) * | 2013-01-28 | 2013-06-12 | 辽宁工程技术大学 | Attitude measurement method of micro-electro mechanical system (MEMS) inertial navigation system based on single-shaft forward revolution and reverse revolution |
| CN103245360A (en) * | 2013-04-24 | 2013-08-14 | 北京工业大学 | Autocollimation method of carrier aircraft rotating type strapdown inertial navigation system under shaking base |
| CN106249745A (en) * | 2016-07-07 | 2016-12-21 | 苏州大学 | The control method of four axle unmanned planes |
-
2018
- 2018-04-26 CN CN201810386317.1A patent/CN108592918A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103148854A (en) * | 2013-01-28 | 2013-06-12 | 辽宁工程技术大学 | Attitude measurement method of micro-electro mechanical system (MEMS) inertial navigation system based on single-shaft forward revolution and reverse revolution |
| CN103245360A (en) * | 2013-04-24 | 2013-08-14 | 北京工业大学 | Autocollimation method of carrier aircraft rotating type strapdown inertial navigation system under shaking base |
| CN106249745A (en) * | 2016-07-07 | 2016-12-21 | 苏州大学 | The control method of four axle unmanned planes |
Non-Patent Citations (3)
| Title |
|---|
| HAIFENG XING 等: "Self-Alignment MEMS IMU Method Based on the Rotation Modulation Technique on a Swing Base", 《SENSORS》 * |
| 陈国定 等: "基于MPU6050的四轴硬件姿态解算研究", 《机电工程》 * |
| 陈孟元等: "基于四元数改进型互补滤波的MEMS姿态解算", 《电子测量与仪器学报》 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110514228A (en) * | 2019-09-02 | 2019-11-29 | 哈尔滨工业大学 | Small and micro-satellite navigation attitude measuring system dynamic comprehensive performance testing device and method |
| CN111551175A (en) * | 2020-05-27 | 2020-08-18 | 北京计算机技术及应用研究所 | Complementary filtering attitude calculation method of attitude heading reference system |
| CN111551175B (en) * | 2020-05-27 | 2024-03-15 | 北京计算机技术及应用研究所 | Complementary filtering attitude resolving method of navigation attitude reference system |
| CN111879325A (en) * | 2020-08-05 | 2020-11-03 | 东北大学 | IMU attitude angle estimation method with high precision and anti-interference capability |
| CN111879325B (en) * | 2020-08-05 | 2024-07-30 | 东北大学 | IMU attitude angle estimation method with high precision and anti-interference capability |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Sun et al. | MEMS-based rotary strapdown inertial navigation system | |
| CN106225784B (en) | Based on inexpensive Multi-sensor Fusion pedestrian dead reckoning method | |
| Tseng et al. | Motion and attitude estimation using inertial measurements with complementary filter | |
| Jurman et al. | Calibration and data fusion solution for the miniature attitude and heading reference system | |
| JP4184351B2 (en) | Method and apparatus for determining geomagnetism using compass and method and apparatus for determining azimuth angle of moving object | |
| CN108225308A (en) | A kind of attitude algorithm method of the expanded Kalman filtration algorithm based on quaternary number | |
| CN110887507B (en) | Method for quickly estimating all zero offsets of inertial measurement units | |
| CN108318038A (en) | A kind of quaternary number Gaussian particle filtering pose of mobile robot calculation method | |
| CN108195400A (en) | The moving alignment method of strapdown micro electro mechanical inertia navigation system | |
| CN105910606A (en) | Direction adjustment method based on angular velocity difference | |
| CN106052685A (en) | Two-stage separation fusion attitude and heading estimation method | |
| CN109073388B (en) | Gyromagnetic geographic positioning system | |
| CN112595350B (en) | Automatic calibration method and terminal for inertial navigation system | |
| CN111272158B (en) | Dynamic azimuth angle resolving method of MEMS electronic compass in complex magnetic disturbance scene | |
| CN108731676A (en) | A kind of posture fusion enhancing measurement method and system based on inertial navigation technology | |
| CN109489661B (en) | Gyro combination constant drift estimation method during initial orbit entering of satellite | |
| Bistrov | Performance analysis of alignment process of MEMS IMU | |
| CN111189474A (en) | Autonomous calibration method of MARG sensor based on MEMS | |
| CN111486870B (en) | System-level calibration method for inclined strapdown inertial measurement unit | |
| Islam et al. | A low cost MEMS and complementary filter based attitude heading reference system (AHRS) for low speed aircraft | |
| CN108871319A (en) | One kind is based on earth gravitational field and the sequential modified attitude algorithm method in earth's magnetic field | |
| De Alteriis et al. | Accurate attitude inizialization procedure based on MEMS IMU and magnetometer integration | |
| CN108592918A (en) | The full attitude algorithm method of MEMS IMU under swaying base | |
| Lee et al. | A sequential orientation kalman filter for AHRS limiting effects of magnetic disturbance to heading estimation | |
| Zhu et al. | Accuracy improvement of a redundant inertial measurement unit brought about by the dual-axis rotational motion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180928 |