1262295 九、發明說明： 【發明所屬之技術領域】 本發明係有μ -種姿態參考系統，制是指—種兼具測量 模組之成本低、量測數據精準，以及接受度高之低成本姿態參 考系統。 【先前技術】 傳統技術對於載具姿態量測，大體有如下之設備：1262295 IX. Description of the Invention: [Technical Field of the Invention] The present invention has a μ-type attitude reference system, which means that the measurement module has low cost, accurate measurement data, and high acceptability. Attitude reference system. [Prior Art] The conventional technology generally has the following equipment for the attitude measurement of the vehicle:
第-·使用加速規和角速度量測模組來組成量測系統； 第二·單獨使用電子羅盤； 第二·使用三個角速度壓電陀螺儀組。 前述習用設備產生以下缺失： ]板組祕，卩胃。習用載具姿態常用慣性導航裝備（簡 稱來量測，這些裝備相當昂貴。若載具在預定時内動作 使陀螺儀之測量時間加長，陀螺翻量到的數據會 里測日，間加長而發散。相反的，若載具在預定時間内動作過 快，則加速規_作不及，而無法量測。 替12]+量峨據易有誤差。電子羅盤具有傾斜儀和磁力計， 進—旦㈣和重力來制綠，其部分㈣ϋ是以物理方式 撼，=\在載具姿態處於低變化率時，可精確測量出姿態數 即使旦Γ蝴為反應時間太慢’故，無法測量高變化率之姿態， 時間^ 了，也有—定程度之誤差。角速度壓魏螺儀之反應 ρ β快’適於測量載具之高變化率姿態，但，訊號會隨時 1262295 間產生雜訊以及數值發散，同樣產生誤差。 [3]接受度低。傳統制量_統有軍方專用設備，但果 置可能過於笨重’且不易維修，民間接受度較低。 、 因此，有必要研發出新的技術，崎決 【發明内容】 占。 本發明之主要目的，在於提供—種低成本姿態參考系統， 其具備測量模組之成本低的優點。 本發明之次—目的’在於提供—種低成本絲參考系統， 其量測數據精準。 本毛月之又目的，在於提供一種低成本姿態參考系統， 其具有接受度高之市場競爭力。 本發明係提供_種低成本姿態參考祕，其包括： -壓電陀螺儀部’_以將即時之姿態訊息轉換成一第一 訊號； …1通濾波n ’係具有—歡之高通參考值，該高通渡波 -係靖取鮮喊’麵頻率低於該高通參考狀部份滤掉 且其餘通過，然後輸出一第二訊號； 一電子羅盤部’制轉即時之錢訊息轉換成-第三訊 號； 低通滤波s ’係具有—敢之傾參考值，該低通滤波 器係讀取該第三訊號，並將頻率高於該低通參考值之部份滤掉 且其餘通過，然後輪出一第四訊號； 1262295 -訊號相加元件，係賴第二峨及該細減相加後， 輸出—姿態參考輸出訊號。 一本發明之上述目的與優點，雜從下述所選用實施例之詳 細說明與附圖中，獲得深入瞭解。 韻刊貫施舰配合圖鱗細軸本發明於後： 【實施方式】 參閱第i，本發鴨於航空載具(例如：無人飛機的姿 ·, 里測）、陸上載具(例如：汽車的慣性導航），或是航海載具(例 如：船隻的方向定位)行進中之姿態測量，設計了一種『低成 本姿態參考系統』，其包括： -壓電陀螺儀部10，侧以將即時之姿態訊息轉換成一 第一訊號S1 ; 一尚通攄波态20，係具有一預定之高通參考值vjj，該高 通濾波器讀取該第一訊號S1，將第一訊號S1中頻率低於該高 ⑩ 通參考值VH部份之訊號濾掉，而頻率高於該高通參考值VH部 份之訊號則通過，然後輸出一第二訊號S2 ; 龟子維盤部30 ’係用以將即時之姿態訊息轉換成一第 三訊號S3 ; 一低通濾波器40，係具有一預定之低通參考值VL，該低 通濾波器40讀取該第三訊號S3，將第三訊號S3中頻率高於 該低通參考值VL部份之訊號濾掉，而頻率低於該低通參考值 VL部份之訊號則通過，然後輸出一第四訊號S4 ; 7 1262295 一訊號相加元件50，孫脸## ^ , 係將知二訊號82及$四訊 相加後，最後輸出-姿態參考輸出訊號S5。 u 如此為本發明之低成本姿態參考系統。 實務上，該高通參考叙鱗於魏通 且該高通參考㈣與該低通參考飢係介於〇.版至〇1， 之間，例如可設定為G. 2Hz或G. 25Hz，視實際情況而改變广- The use of accelerometers and angular velocity measurement modules to form the measurement system; Second, the use of electronic compass alone; Second, the use of three angular velocity piezoelectric gyroscopes. The aforementioned conventional devices produce the following defects: Conventional vehicle attitude commonly used inertial navigation equipment (referred to as measurement, these equipment is quite expensive. If the vehicle moves in the predetermined time to make the measurement time of the gyroscope longer, the data of the gyro will be measured in the day, and the length will be diverged. Conversely, if the vehicle moves too fast within the predetermined time, the acceleration gauge cannot be measured, and it cannot be measured. For the 12]+ quantity, there is an error. The electronic compass has a tilt meter and a magnetometer. (4) Gravity to make green, part (4) ϋ is physically 撼, =\ When the vehicle attitude is at a low rate of change, the number of postures can be accurately measured. Even if the reaction time is too slow, it is impossible to measure high changes. The attitude of the rate, the time ^, there is also a certain degree of error. The angular velocity of the Weirui reaction ρ β fast 'is suitable for measuring the high rate of change attitude of the vehicle, but the signal will generate noise and value divergence at any time between 1262295 [3] The degree of acceptance is low. Traditional acceptance _ has military-specific equipment, but the fruit may be too bulky' and difficult to maintain, and the public acceptance is low. Therefore, it is necessary to develop new ones. The main purpose of the present invention is to provide a low-cost attitude reference system which has the advantage of low cost of the measurement module. The second objective of the present invention is to provide a low cost. The wire reference system has accurate measurement data. The purpose of this month is to provide a low-cost attitude reference system with high acceptance market competitiveness. The present invention provides a low-cost attitude reference secret, which includes : - Piezoelectric gyroscope section '_ to convert the instantaneous attitude message into a first signal; ... 1 pass filter n ' has a high-pass reference value of Huan, the high-pass wave-system is screaming, the surface frequency is lower than The high-pass reference portion is filtered out and the rest is passed, and then a second signal is output; an electronic compass portion 'turns the instant money message into a third signal; the low-pass filter s ' has a dreading reference value The low-pass filter reads the third signal, filters out the portion of the frequency higher than the low-pass reference value, and passes the rest, and then rotates a fourth signal; 1262295 - signal adding component After the second 峨 and the fine addition and subtraction, the output-pose reference output signal. The above-mentioned objects and advantages of the present invention are obtained from the detailed description of the selected embodiments and the drawings below. The invention is based on the following: [Embodiment] Referring to the i-th, the duck is used in aviation vehicles (for example: the position of the unmanned aircraft, in the test), and the land-based vehicle (for example: the car Inertial navigation), or attitude measurement during the travel of a marine vehicle (eg, directional orientation of the vessel), designed a "low-cost attitude reference system" that includes: - Piezoelectric gyroscope section 10, the side will be instantaneous The attitude information is converted into a first signal S1; a pass-through state 20 has a predetermined high-pass reference value vjj, and the high-pass filter reads the first signal S1, and the frequency in the first signal S1 is lower than the high The signal of the VH part of the reference value is filtered out, and the signal with the frequency higher than the reference part of the high-pass reference value VH passes, and then a second signal S2 is output; the turtle's disk portion 30' is used for the instant posture. The message is converted into a third signal S3; The low-pass filter 40 has a predetermined low-pass reference value VL, and the low-pass filter 40 reads the third signal S3, and the signal in the third signal S3 is higher than the low-pass reference value VL. Filtered out, and the signal whose frequency is lower than the low-pass reference value VL passes, and then outputs a fourth signal S4; 7 1262295 a signal adding component 50, Sun face ## ^, the system will know the second signal 82 and After the sum of four signals, the final output-attitude reference output signal S5. u is thus a low-cost attitude reference system of the present invention. In practice, the Qualcomm reference scale is in Weitong and the Qualcomm reference (4) and the low-pass reference hunger system are between 〇.版至〇1, for example, can be set to G. 2Hz or G. 25Hz, depending on the actual situation. And change widely
在本實施射，係使用ENV—G5F_⑽魏之壓電陀螺儀部 10與TCM2-5G魏之電子軸部3G，配合互鶴波之技術手 段，可發揮兩儀器之優點。 更詳細的講，姿態與航向參考系統是利用壓電陀螺儀部量 測姿態，並用傾斜儀加以補償；再利用電子羅盤部量測方向， 亦即，壓電陀螺儀部是量測載具之動態部份，而姿態是藉由傾 斜儀置測，將兩者結合，可制魅之精麵絲訊息，如此 技術手段可謂“互補濾波”。 利用壓電陀螺儀部量測角速度再積分可得到尤勒角細 ，為Euk angles)，但是在—些特殊角度必需制電子羅盤 4來修正，當载具姿態變化紐時，壓電陀螺儀部量測之數值 4目當準確，，當載具姿態變化較慢時，配合該高通渡波器處理該 墼電陀螺儀部之積分訊息，可提高準確度。 電子羅盤部具有傾斜儀和磁力計，在載具姿態處於低變化 率時，可獲得精確之姿態數據，反之，當載具姿態處於高變化 8 1262295 率時’則配合該低通濾波器處理該電子羅盤部之訊號，以提高 準確率。 公式（1)說明如何修正姿態角度： 叫+(4切)·各 ⑴ 其中： 61 ·俯仰角（pitch angle) 6 ·俯仰角速率（pitch angle rate)In this implementation, the ENV-G5F_(10) Wei piezoelectric gyro unit 10 and the TCM2-5G Weizhi electronic shaft unit 3G are used, and the technical advantages of the two instruments can be exerted by the technical means of the mutual wave. In more detail, the attitude and heading reference system uses the piezoelectric gyroscope to measure the attitude and compensates with the tilt meter; and then uses the electronic compass to measure the direction, that is, the piezoelectric gyroscope is the measuring vehicle. The dynamic part, and the posture is measured by the tilt meter, and the two can be combined to make the fascinating fine silk message. Such a technical means can be described as "complementary filtering". Using the piezoelectric gyroscope to measure the angular velocity and re-integration, the Yule angle can be obtained as Euk angles), but the electronic compass 4 must be modified at some special angles. When the vehicle attitude changes, the piezoelectric gyro unit The measured value of 4 is accurate. When the attitude of the vehicle changes slowly, the high-pass waver is used to process the integral information of the electric gyro unit to improve the accuracy. The electronic compass part has a tilt meter and a magnetometer, and accurate attitude data can be obtained when the posture of the vehicle is at a low rate of change. Conversely, when the posture of the vehicle is at a high variation of 8 1262295, the low-pass filter is used to process the The signal of the electronic compass department to improve the accuracy. Equation (1) shows how to correct the attitude angle: called + (4 cut) · each (1) where: 61 · pitch angle 6 · pitch angle rate
% ·表終慣性中產生之俯仰角（pitch angle result in last iteration) 4 ·壓電陀螺儀量到之俯仰角速率（pitch angle rate from gyroscope) "·修正之角速率（angular velocity for the correction) 咚·取樣期間（sampling period) A ·電子羅盤俯仰角數（pitch angle from electric compass) A ·編碼态俯仰角數(puch angle from encoder) 0 ··滾轉角（roll angle) v :偏航角（yaw angle) 公式（2)中?7是一已知常數% · pitch angle result in last iteration 4 · pitch angle rate from gyroscope " correction angular rate (angular velocity for the correction)咚·sampling period A · pitch angle from electric compass A · coded pitch from encoder 0 ··roll angle v : yaw angle (yaw angle) In Equation (2), ?7 is a known constant.
+ κ2. )，(&c 一 ⑹ > Q 1 (2) 藉由實驗，我們可獲得最佳之參數變化，利用最小平方法 1262295 來修正誤差，方程式如下· ΑτΑ]ς - ATb :=>x^[ATAYlATb ^/hereA, ί and Aare: /1 /1 Λ Λ i X : b ·( A· n k、- θ·ε Λ Si+ κ2. ),(&c one (6) > Q 1 (2) By experiment, we can get the best parameter change, and use the least square method 1262295 to correct the error, the equation is as follows · ΑτΑ]ς - ATb := >x^[ATAYlATb ^/hereA, ί and Aare: /1 /1 Λ Λ i X : b ·( A· nk, - θ·ε Λ Si
And/s ，(&—&)> 0It1，(H)<〇 尤勒角度之也用公式⑴和公式⑵之步驟來計算 Θ ° /若使載具和其慣性導航系統共同運作—段叫慣性導航 糸統會將線性加速度和向心、加速度結合成為—個有誤差之向 量’可用壓電陀螺儀部之角速度數據修正傾斜°、 ° 量。 w、我不正確之向 1262295 喊_加速度也會導賴斜儀量_職生誤差，但在 祕時，碰料之_是域她進行制，故，降低 整個系統之誤差。 祕合其他感測器，例如：全球衛星定位系統（英文為 Global Position System，簡稱GPS。）量測加速度之功能， 其可-秒更新-次資料之特性，將可修正傾斜儀於偏航時之誤 差（配合參閱第二及第三圖），方程式如下： • % : GPS 估測的向心加速度（centripetal acceleration estimated from GPS) : GPS 速度(velocity from GPS) • GPS 估測傾斜儀誤差（inclinometer error estimated from GPS) 先7 :電子羅盤的滾轉角（roll angle from electric compass) φ\ ’：修正後的傾斜儀 • 二 UG，G (3.1) 二 tan'1 (―) (3.2) Φ〇 : ζ Φ〇+φ2 (3.3) 經由實驗，證實互補濾波可提高姿態參考輸出訊號S5之 準確性，參閱第四、第五、第六及第七圖，為壓電陀螺儀部、 電子羅盤部處於不同運作狀態時，其產生之波形示意圖，本發 明係以編碼器（Encoder)做為標準訊號之參考值，如第四圖所 1262295 示’紅色虛線（參閱附件一之第A圖）為壓電陀螺儀部未經訊號 整合之訊號曲線，而藍色實線為編碼器之訊號曲線，壓電陀螺 儀郤在大約0至〇· 2Hz低頻運作時，因雜訊與數值發散之因， 產生之測里值與編碼益之標準值明顯有彳艮大的誤差。 參閱第五® ’在峨整合後，代表姿態方向參考系統(英 文為 Attitude and Heading Reference System，簡稱 AHRS) 之紅色虛線(如附件-之第B圖）與代表編碼器之藍色實線大 體一致。 參閱第六圖，紅色虛線(參閱附件一之紅圖）為電子羅盤 部未經訊雜合之訊號曲線，色實線為編抑之訊號曲 線’電子羅盤部在大約〇. 4至〇. 9高頻運作時，因反應時間慢， 跟不上載具之姿_化，贿侧之練無挪之標準值有 很大誤差。 參閱第七®，在訊號整合後，代表賴方向參考系統(英 Attitude and Heading Reference System ^ AHRS) ^ 紅色虛線(參_件-之第D圖）與代表編碼器之藍色實線大 體一致。 本發明之設計，可廣泛應用於各種行動載具上，做為量測 及參考載具姿態之低成本高效益的系統。 本發明產生之優點及功效詳述如下·· ⑴測量麵之成本低。本翻之測量漁主要有屢電陀 1262295 螺儀部及電子羅盤部，皆為低成本之測量儀器，只要將壓電陀 _部配合高通濾波器’並將電子隨部配合低通濾波器，即 可透過互補濾波”的方式，分別取得兩者最準確之測量數 據，進而輸出一準確之姿態參考輸出訊號。 [2 ]量測數據精準。本發明以壓電陀職部制載具之高 變化率姿態’透過高職波！!取得準確數據，独電子羅盤測And/s, (&-&)>0It1,(H)<〇 尤勒 angles are also calculated using the steps of equations (1) and (2) Θ ° / if the vehicle and its inertial navigation system work together - The segment called Inertial Navigation System combines linear acceleration with centripetal and acceleration into an error vector. The angular velocity data of the piezoelectric gyroscope can be used to correct the tilt ° and °. w, I am not correct to 1262295 shouting _ acceleration will also lead to the amount of oblique instrument _ occupational error, but in secret time, the _ is the domain she is system, so, reduce the error of the entire system. Other sensors, such as the Global Positioning System (GPS), which measures the acceleration, can update the time of the data to correct the tilt meter during yaw The error (see the second and third figures), the equation is as follows: • % : GPS estimated centripetal acceleration estimated from GPS: GPS speed (velocity from GPS) • GPS estimated tilt meter error (inclinometer) Error estimated from GPS) First 7: roll angle from electric compass φ\ ': corrected tilt meter • 2 UG, G (3.1) 2 tan'1 (―) (3.2) Φ〇: ζ Φ〇+φ2 (3.3) Through experiments, it is confirmed that the complementary filtering can improve the accuracy of the attitude reference output signal S5. Refer to the fourth, fifth, sixth and seventh figures for the piezoelectric gyro unit and the electronic compass unit. The waveform diagram generated by the different operating states, the invention uses the encoder (Encoder) as the reference value of the standard signal, as shown in the fourth figure 1262295, the red dotted line (see Annex 1 A picture) is the signal curve of the piezoelectric gyro unit without signal integration, and the blue solid line is the signal curve of the encoder. The piezoelectric gyroscope operates at low frequency of about 0 to 〇 2 Hz due to noise and value. The cause of divergence, the resulting measured value and the standard value of coding benefit are obviously large errors. Refer to the fifth ® 'After 峨 integration, the red dotted line of the Attitude and Heading Reference System (AHRS) is the same as the blue solid line representing the encoder. . Referring to the sixth figure, the red dotted line (see the red figure in Annex 1) is the signal curve of the electronic compass part without the signal mixing, and the solid color line is the signal curve of the compilation. The electronic compass part is about 〇. 4 to 〇. 9 When the high-frequency operation is performed, the response time is slow, and there is a large error in the standard value of the bribery side. Referring to the seventh®, after the signal is integrated, the Red Atlas and Heading Reference System (AHRS) ^ red dashed line (see Figure D) is roughly the same as the solid blue line representing the encoder. The design of the present invention can be widely applied to various mobile vehicles as a low-cost and high-efficiency system for measuring and referring to the attitude of the vehicle. The advantages and effects produced by the present invention are detailed as follows: (1) The cost of the measurement surface is low. The measurement of the fishing is mainly the electric measuring system 1262295 screwing device and the electronic compass part, all of which are low-cost measuring instruments, as long as the piezoelectric gyro-part is matched with the high-pass filter' and the electronic part is matched with the low-pass filter. The most accurate measurement data can be obtained by means of complementary filtering, and then an accurate attitude reference output signal can be output. [2] The measurement data is accurate. The invention is high in the piezoelectric totem system. Change rate gesture 'through high vocational wave!! Get accurate data, single electronic compass test
得載具之低變化率姿態’透過低通濾波^取得準確數據後，這 兩個精確數據透過訊號相加元件整合後，輸出—姿態參考輸出 訊號，極為準確。 、旦[3]使用接受度高。本發明以簡單的方法，配合小體積之 測量儀器’且維修容易’相較於一般軍用規格較易為使用者接 以上僅是藉由較佳實補詳細本發明，.該實施例 所做的任何簡單修改與變化，皆不脫離本發明之精神與範圍j 由以上洋細說明，可使熟知本項技藝者明瞭本 達成前述目的，實已符合專利法之規定，伽翻專利；^ 意圖 附件-：係有關本發明之各裝置之制數據之彩色曲線示 【圖式簡單說明】 第-圖係本發明之主要系統方塊圖 第-圖係本發明之部分裝置啦過程示意圖一 1262295 第三圖係本發明之部分裝置測量過程示意圖二 第四圖係本發明之部分裝置之測量過程之曲線示意圖一 第五圖係本發明之部分裝置之測量過程之曲線示意圖二 第六圖係本發明之部分裝置之測量過程之曲線示意圖三 第七圖係本發明之部分裝置之測量過程之曲線示意圖四 【主要元件符號說明】 20高通濾波器 40低通滤波器 S1第一訊號 S3第三訊號 S5姿態參考輸出訊號 VL低通參考值 10壓電陀螺儀部 30電子羅盤部 50訊號相加元件 S2第二訊號 S4第四訊號 VH南通餐考值After obtaining the accurate data through the low-pass filter ^, the two accurate data are integrated by the signal adding component, and the output-attitude reference output signal is extremely accurate. , [3] use acceptance is high. The invention adopts a simple method, cooperates with a small-volume measuring instrument 'and is easy to maintain', and is easier to connect to the user than the general military specification. The present invention is only made by better complementing the details. Any simple modifications and changes will be made without departing from the spirit and scope of the present invention. From the above description, it will be apparent to those skilled in the art that the foregoing objects have been achieved, and the patent law has been met. -: Color curve of the data of each device of the present invention [Simplified description of the drawings] - Figure 1 is a main system block diagram of the present invention - Figure 1 is a schematic diagram of a part of the apparatus of the present invention 1262295 BRIEF DESCRIPTION OF THE DRAWINGS FIG. 4 is a schematic diagram of a measurement process of a part of the apparatus of the present invention. FIG. 5 is a schematic diagram of a measurement process of a part of the apparatus of the present invention. FIG. 6 is a part of the present invention. Schematic diagram of the measurement process of the device. The seventh diagram is a schematic diagram of the measurement process of some of the devices of the present invention. 20 high-pass filter 40 low-pass filter S1 first signal S3 third signal S5 attitude reference output signal VL low-pass reference value 10 piezoelectric gyro unit 30 electronic compass part 50 signal adding component S2 second signal S4 fourth signal VH Nantong meal test value
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