WO2017063386A1 - 一种姿态测量系统的精度校准方法 - Google Patents
一种姿态测量系统的精度校准方法 Download PDFInfo
- Publication number
- WO2017063386A1 WO2017063386A1 PCT/CN2016/088303 CN2016088303W WO2017063386A1 WO 2017063386 A1 WO2017063386 A1 WO 2017063386A1 CN 2016088303 W CN2016088303 W CN 2016088303W WO 2017063386 A1 WO2017063386 A1 WO 2017063386A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- data
- accelerometer
- ellipsoid
- matrix
- calculated
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 122
- 238000005259 measurement Methods 0.000 title claims abstract description 58
- 239000011159 matrix material Substances 0.000 claims description 126
- 238000004364 calculation method Methods 0.000 claims description 65
- 230000001133 acceleration Effects 0.000 claims description 20
- 230000002265 prevention Effects 0.000 claims description 9
- 238000000354 decomposition reaction Methods 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000004164 analytical calibration Methods 0.000 description 1
- 238000013528 artificial neural network Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
- G01C17/38—Testing, calibrating, or compensating of compasses
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
Definitions
- the present invention relates to the field of measurement technologies, and in particular, to an accuracy calibration method for an attitude measurement system.
- the attitude measurement system is a series of devices that can measure the object's spatial attitude (pitch angle, roll angle, heading angle). It has been widely used in many fields of industry. In recent years, with the continuous decline of hardware costs, each Various types of attitude measurement systems have begun to enter the daily life of thousands of households. Taking mobile phones as an example, most smart phones have built-in accelerometers, gyroscopes and electronic compasses, which constitute a simple low-cost attitude measurement system. . However, in most of the current attitude measurement systems, due to cost constraints, the accuracy and stability of the built-in sensors of the system are not high, resulting in unsatisfactory measurement results of the entire attitude measurement system. Calibrating the sensor without changing the system hardware is a very practical way to improve the measurement accuracy of the entire system. Therefore, the calibration method for studying low-cost attitude measurement systems has a strong practical application value.
- the present invention provides an attitude measurement system. Accurate calibration method, reliable calibration results, high precision, and less time-consuming calibration.
- An accuracy calibration method for an attitude measurement system includes the following steps:
- the ecliptic fitting model is used to calibrate the zero offset, the scale factor and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system;
- the electronic compass is aligned by the ellipsoid fitting model according to the compensated accelerometer data
- the attitude is solved based on the compensated accelerometer data and the electronic compass data.
- the step of calibrating the zero offset, the scale factor and the non-orthogonal angle between the accelerometers of the attitude measuring system by the ellipsoid fitting model is performed before performing the following steps: performing horizontal calibration on the accelerometer to eliminate Accelerometer original zero offset.
- the step of calibrating the zero offset, the scale factor and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- the step of calibrating the zero offset, the scale factor and the non-orthogonal angle between the accelerometers of the attitude measuring system by the ellipsoid fitting model is performed after performing the following steps: when new accelerometer data is acquired After that, the newly acquired data can be corrected with the ellipsoid parameters.
- the step of quantifying the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data comprises the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation and overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- the following steps are performed: after the new electronic compass data is acquired, the ellipsoid parameter pair may be used. The newly acquired data is corrected.
- the electronic compass updates the ellipsoid parameters by using the measurement data during the measurement process, and improves the ellipsoid The accuracy of the ball parameters.
- the electronic compass uses the measurement data to update the ellipsoid parameters during the measurement process, and improves the accuracy of the ellipsoid parameters.
- the following steps are performed: the collected electronic compass data is eliminated by statistical rules. The calculation point where the jump occurs.
- the CPU can only make a fitting operation based on a small number of sample points in order to ensure that the memory stack does not overflow during the operation, so the fitting precision is limited;
- the matrix operation has been improved, and the calculation process is optimized to reduce the calculation of the ellipsoid fitting by more than 90%.
- the calculation of the fitting algorithm takes 563 ms; relatively, the adoption The improved algorithm takes only 14ms; the strategy of calibrating with measurement data improves the fault tolerance during calibration, which reduces the initial calibration requirements and reduces the operational complexity of the user.
- Embodiment 1 is a flowchart of a method of Embodiment 1 of an accuracy calibration method for an attitude measurement system according to the present invention
- Embodiment 2 is a flowchart of a method of Embodiment 2 of an accuracy calibration method for an attitude measurement system according to the present invention
- Embodiment 3 is a flowchart of a method of Embodiment 3 of an accuracy calibration method for an attitude measurement system according to the present invention
- Embodiment 4 is a flowchart of a method of Embodiment 4 of an accuracy calibration method for an attitude measurement system according to the present invention
- Embodiment 5 is a flowchart of a method of Embodiment 5 of an accuracy calibration method of an attitude measurement system according to the present invention
- FIG. 6 is a flowchart of a method of Embodiment 6 of an accuracy calibration method of an attitude measurement system according to the present invention
- FIG. 7 is a flowchart of a method of Embodiment 7 of an accuracy calibration method of an attitude measurement system according to the present invention.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S1 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S2 Compensating the accelerometer raw data by using the calculated ellipsoid parameters.
- Step S3 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- step S3 performing the quasi-step of the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data comprises the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 Compensating the electronic compass raw data by using the calculated ellipsoid parameters.
- Step S5 Calculating the posture according to the compensated accelerometer data and the electronic compass data.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S2 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S2 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S3 compensating the accelerometer raw data by using the calculated ellipsoid parameters
- Step S4 correcting the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data
- the step S4: performing a quasi-step on the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data includes the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S5 compensating the original data of the electronic compass by using the calculated ellipsoid parameters
- Step S6 Calculating the posture according to the compensated accelerometer data and the electronic compass data.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S3 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S3 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 compensating the accelerometer raw data by using the calculated ellipsoid parameters
- Step S5 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- step S5 performing the quasi-step of the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data comprises the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S6 compensating the original data of the electronic compass by using the calculated ellipsoid parameters
- Step S7 Solving the posture according to the compensated accelerometer data and the electronic compass data.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S3 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S3 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 After the new accelerometer data is acquired, the newly acquired data can be corrected by the ellipsoid parameter.
- Step S5 Compensating the accelerometer raw data by using the calculated ellipsoid parameters.
- Step S6 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- the step S6: performing a quasi-step on the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data includes the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S7 compensating the original data of the electronic compass by using the calculated ellipsoid parameters
- Step S8 Solving the posture according to the compensated accelerometer data and the electronic compass data.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S3 Zero-biasing and engraving of the accelerometer of the attitude measuring system through the ellipsoid fitting model The degree coefficient is calibrated with the non-orthogonal angle between the axes;
- the step S3 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 After the new accelerometer data is acquired, the newly acquired data can be corrected by the ellipsoid parameter.
- Step S5 Compensating the accelerometer raw data by using the calculated ellipsoid parameters.
- Step S6 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- the step S6: performing a quasi-step on the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data includes the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S7 Compensating the electronic compass raw data by using the calculated ellipsoid parameters.
- Step S8 After the new electronic compass data is acquired, the newly collected data can be corrected by using the ellipsoid parameter.
- Step S9 Calculating the posture according to the compensated accelerometer data and the electronic compass data.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S3 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S3 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 After the new accelerometer data is acquired, the newly acquired data can be corrected by the ellipsoid parameter.
- Step S5 Compensating the accelerometer raw data by using the calculated ellipsoid parameters.
- Step S6 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- the step S6: performing a quasi-step on the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data includes the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [H X0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S7 Compensating the electronic compass raw data by using the calculated ellipsoid parameters.
- Step S8 After the new electronic compass data is acquired, the newly collected data can be corrected by using the ellipsoid parameter.
- Step S9 solving the posture according to the compensated accelerometer data and the electronic compass data Count.
- Step S10 The electronic compass uses the measurement data to update the ellipsoid parameters in the measurement process, and improves the accuracy of the ellipsoid parameters.
- an accuracy calibration method of an attitude measurement system includes the following steps:
- Step S1 performing horizontal calibration on the accelerometer to eliminate the original zero offset of the accelerometer
- Step S3 calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by using an ellipsoid fitting model
- the step S3 the step of calibrating the zero offset, the scale coefficient and the non-orthogonal angle between the axes of the accelerometer of the attitude measuring system by the ellipsoid fitting model comprises the following steps:
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S4 After the new accelerometer data is acquired, the newly acquired data may be corrected by using an ellipsoid fitting parameter.
- Step S5 Compensating the accelerometer raw data by using the calculated ellipsoid parameters.
- Step S6 correcting the electronic compass by using the ellipsoid fitting model according to the compensated accelerometer data
- the step S6: performing a quasi-step on the electronic compass by the ellipsoid fitting model according to the compensated accelerometer data includes the following steps:
- the three-axis data of the electronic compass is acquired for a period of time, and the collected data is subjected to operation overflow prevention processing, wherein the three-axis data is marked as [HX 0 H Y0 H Z0 ] T ;
- the ellipsoidal constraint matrix C is introduced at the same time and the matrix S is divided into blocks, wherein
- the ellipsoid fitting vector is obtained by the following formula:
- ⁇ 2 -S 4 -1 S 2 T ⁇ 1 ;
- ⁇ 1 is calculated
- the three-axis scale coefficients k x , k y , k z , the inter-axis non-orthogonal angles ⁇ xy , ⁇ yz , ⁇ xz and the residual zero offset b x , b y , b z can pass the following formula Calculated:
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- ⁇ 1 is the eigenvector corresponding to the largest eigenvalue of the matrix C 1 -1 (S 1 -S 2 S 4 -1 S 2 T ), so in the actual calculation, all eigenvalues and eigenvectors are not calculated.
- the power method or the inverse power method to calculate the largest eigenvector, taking the inverse power method as an example:
- Step S7 Compensating the electronic compass raw data by using the calculated ellipsoid parameters.
- Step S8 After the new electronic compass data is collected, the newly collected data can be corrected by using the ellipsoid.
- Step S9 Calculating the posture according to the compensated accelerometer data and the electronic compass data.
- Step S10 Excluding the calculation point of the jump in the collected electronic compass data by means of statistical rules.
- Step S11 The electronic compass uses the measurement data to update the ellipsoid parameters in the measurement process, and improves the accuracy of the ellipsoid parameters.
- the CPU can only make a fitting operation based on a small number of sample points in order to ensure that the memory stack does not overflow during the operation, so the fitting precision is limited;
- the matrix operation has been improved, and the calculation process is optimized to reduce the calculation of the ellipsoid fitting by more than 90%.
- the calculation of the fitting algorithm takes 563 ms; relatively, the adoption The improved algorithm takes only 14ms; the strategy of calibrating with measurement data improves the fault tolerance during calibration, which reduces the initial calibration requirements and reduces the operational complexity of the user.
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Navigation (AREA)
Abstract
Description
Claims (9)
- 一种姿态测量系统的精度校准方法,其特征在于,所述姿态测量系统的精度校准方法包括如下步骤:通过椭球拟合模型对姿态测量系统的加速度计的零偏、刻度系数与轴间不正交角进行校准;利用计算出的椭球参数对加速度计原始数据进行补偿;根据补偿后的加速度计数据通过椭球拟合模型对电子罗盘进行准;利用计算出的椭球参数对电子罗盘原始数据进行补偿;根据补偿后的加速度计数据与电子罗盘数据对姿态进行解算。
- 根据权利要求1所述的姿态测量系统的精度校准方法,其特征在于,所述通过椭球拟合模型对姿态测量系统的加速度计的零偏、刻度系数与轴间不正交角进行校准步骤执行前执行以下步骤:对加速度计进行水平校准,消除加速度计原始零偏。
- 根据权利要求2所述的姿态测量系统的精度校准方法,其特征在于,所述对加速度计进行水平校准,消除加速度计原始零偏步骤执行后执行以下步骤:采集加速度计在一段时间内的三轴数据,其中,三轴数据标记为[AX0、AY0、AZ0]T,零偏标记为B=[AX0、AY0、AZ0]T–[0 0 g]T。
- 根据权利要求3所述的姿态测量系统的精度校准方法,其特征在于,所述通过椭球拟合模型对姿态测量系统的加速度计的零偏、刻度系数与轴间不正交角进行校准步骤包括以下步骤:设定拟合椭球参数向量,标记为α=[a b c d e f k l m n]T;设定校准过程迭代次数为n,将加速度采集的第一个值[AX0、AY0、AZ0]T拓展为10维列向量D1,并计算矩阵S1,其中,D1标记为D1=[Ax1 2 Ay1 2 Az1 2 Ax1Ay1 Ax1Az1 Ay1Az1 Ax1 Ay1 Az1 1]T,S1=D1TD1;若加速度计三轴数据的采集次数未达到n次,则用新采集的加速度计数据DK对矩阵S进行更新,其中,Sk=Sk-1+Dk TDk;计算出矩阵S后,同时引入椭球限制矩阵C并将矩阵S分块,其中,将矩阵S分块:Dk=[D1 D2]D1=[Ax1 2 Ay1 2 Az1 2]D2=[Ax1Ay1 Ay1Az1 Ax1Az1 Ax1 Ay1 Az1 1]通过以下公式求得椭球拟合向量:计算出α1后,通过上述公式计算出α2,则椭球拟合向量的所有参数全部被计算出,其中,α=[α1 α2]=[a b c d e f k l m n]T;再根据实际的物理对应关系,三轴的刻度系数kx,ky,kz、轴间不正交角δxy,δyz,δxz及残余零偏bx,by,bz可以通过以下公式计算得出:
- 根据权利要求4所述的姿态测量系统的精度校准方法,其特征在于,所述通过椭球拟合模型对姿态测量系统的加速度计的零偏、刻度系数与轴间不正交角进行校准步骤执行后执行以下步骤:当采集到新的加速度计数据后,可以用椭球参数对新采集到的数据进行修正。
- 根据权利要求5所述的姿态测量系统的精度校准方法,其特征在于,所述根据补偿后的加速度计数据通过椭球拟合模型对电子罗盘进行准步骤包括如下步骤:设定拟合椭球参数向量,标记为α=[a b c d e f k l m n]T;采集电子罗盘在一段时间内的三轴数据,并对采集的数据进行运算防溢处理,其中,三轴数据标记为[HX0 HY0 HZ0]T;设定校准过程迭代次数为n,将加速度采集的第一个值[HX1 HY1 HZ1]T拓展为10维列向量D1,并计算矩阵S1,其中,D1标记为D1=[Hx1 2 Hy1 2 Hz1 2 Hx1Hy1 Hx1Hz1 Hy1Hz1 Hx1 Hy1 Hz1 1]T,S1=D1TD1;若电子罗盘三轴数据的采集次数未达到n次,则用新采集的电子罗盘数据DK对矩阵S进行更新,其中,Sk=Sk-1+Dk TDk;计算出矩阵S后,同时引入椭球限制矩阵C并将矩阵S分块,其中,将矩阵S分块:Dk=[D1 D2]D1=[Ax1 2 Ay1 2 Az1 2]D2=[Ax1Ay1 Ay1Az1 Ax1Az1 Ax1 Ay1 Az1 1]通过以下公式求得椭球拟合向量:计算出α1后,通过上述公式计算出α2,则椭球拟合向量的所有参数全部被计算出,其中,α=[α1 α2]=[a b c d e f k l m n]T;再根据实际的物理对应关系,三轴的刻度系数kx,ky,kz、轴间不正交角δxy,δyz,δxz及残余零偏bx,by,bz可以通过以下公式计算得出:
- 根据权利要求6所述的姿态测量系统的精度校准方法,其特征在于,所述根据补偿后的加速度计数据通过椭球拟合模型对电子罗盘进行准步骤执行后执行以下步骤:当采集到新的电子罗盘数据后,可以用椭球参数对新采集到的数据进行修正。
- 根据权利要求7所述的姿态测量系统的精度校准方法,其特征在于,所述根据补偿后的加速度计数据与电子罗盘数据对姿态进行解算步骤执行后执行以下步骤:电子罗盘在测量过程中利用测量数据对椭球参数进行更新,提高椭球参数的准确性。
- 根据权利要求8所述的姿态测量系统的精度校准方法,其特征在于,所述电子罗盘在测量过程中利用测量数据对椭球参数进行更新,提高椭球参数的准确性步骤执行前执行以下步骤:通过统计规则的方式剔除采集的电子罗盘数据中出现跳变的计算点。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
RU2017125953A RU2662458C1 (ru) | 2015-10-13 | 2016-07-04 | Способ прецизионной калибровки системы измерения пространственного положения |
KR1020177023778A KR102008597B1 (ko) | 2015-10-13 | 2016-07-04 | 자세 측정 시스템의 정밀 보정 방법 |
US15/542,931 US10605619B2 (en) | 2015-10-13 | 2016-07-04 | Precision calibration method of attitude measuring system |
EP16854769.3A EP3364151B1 (en) | 2015-10-13 | 2016-07-04 | Precision calibration method for attitude measurement system |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510665021.X | 2015-10-13 | ||
CN201510665021.XA CN105352487B (zh) | 2015-10-13 | 2015-10-13 | 一种姿态测量系统的精度校准方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017063386A1 true WO2017063386A1 (zh) | 2017-04-20 |
Family
ID=55328497
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2016/088303 WO2017063386A1 (zh) | 2015-10-13 | 2016-07-04 | 一种姿态测量系统的精度校准方法 |
Country Status (6)
Country | Link |
---|---|
US (1) | US10605619B2 (zh) |
EP (1) | EP3364151B1 (zh) |
KR (1) | KR102008597B1 (zh) |
CN (1) | CN105352487B (zh) |
RU (1) | RU2662458C1 (zh) |
WO (1) | WO2017063386A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017220867A1 (de) * | 2017-11-22 | 2019-05-23 | Robert Bosch Gmbh | Verfahren zum automatischen Kalibrieren und Verfahren zum Verwenden eines Beschleunigungssensors |
CN114264997A (zh) * | 2021-12-14 | 2022-04-01 | 武汉联影生命科学仪器有限公司 | 梯度灵敏度校准方法、装置及磁共振设备 |
CN116224468A (zh) * | 2023-05-10 | 2023-06-06 | 华中光电技术研究所(中国船舶集团有限公司第七一七研究所) | 一种陆地重力仪标定方法及标定系数 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105352487B (zh) | 2015-10-13 | 2018-06-15 | 上海华测导航技术股份有限公司 | 一种姿态测量系统的精度校准方法 |
CN106556383B (zh) * | 2016-12-02 | 2019-05-07 | 上海华测导航技术股份有限公司 | 一种rtk倾斜补偿测量精度验证的方法 |
CN106979775B (zh) * | 2017-04-28 | 2019-07-30 | 江苏号百信息服务有限公司 | 一种电子罗盘阶跃时平滑滤波的方法 |
CN107479079A (zh) * | 2017-07-13 | 2017-12-15 | 临沂大学 | 一种基于pdr与led结合的方法 |
CN107656227B (zh) * | 2017-09-21 | 2019-10-11 | 大连理工大学 | 基于Levenberg-Marquardt算法的磁力计校准方法 |
US20190346897A1 (en) * | 2018-05-13 | 2019-11-14 | Sean Joseph Rostami | Introspective Power Method |
CN109188422B (zh) * | 2018-08-08 | 2023-01-06 | 中国航空工业集团公司雷华电子技术研究所 | 一种基于lu分解的卡尔曼滤波目标跟踪方法 |
CN109470277B (zh) * | 2018-12-26 | 2022-09-13 | 湖南航天机电设备与特种材料研究所 | 非正交角度测量装置标定系数的测定方法及系统 |
CN112146678B (zh) * | 2019-06-27 | 2022-10-11 | 华为技术有限公司 | 一种确定校准参数的方法及电子设备 |
CN111765879A (zh) * | 2019-11-29 | 2020-10-13 | 深圳市瑞芬科技有限公司 | 一种三维电子罗盘装置及实用校准方法 |
CN112325901B (zh) * | 2020-09-28 | 2022-09-16 | 中国船舶重工集团公司第七0七研究所 | 一种平台式惯导系泊状态下计算方位陀螺仪标度的方法 |
CN112284366B (zh) * | 2020-10-26 | 2022-04-12 | 中北大学 | 一种基于tg-lstm神经网络的偏振光罗盘航向角误差校正方法 |
CN112284421B (zh) * | 2020-11-02 | 2021-03-19 | 蘑菇车联信息科技有限公司 | 一种imu内参调整方法及相关装置 |
CN112596015A (zh) * | 2020-12-28 | 2021-04-02 | 上海矽睿科技有限公司 | 三轴磁传感器的测试方法及系统 |
CN113124905B (zh) * | 2021-04-27 | 2022-10-28 | 西安电子科技大学 | 一种用于多轴惯性姿态传感器精度评估的自动测量方法 |
CN113985494A (zh) * | 2021-10-13 | 2022-01-28 | 哈尔滨工程大学 | 一种基于无迹卡尔曼算法海底地震计中电子罗盘误差补偿方法 |
CN114485728A (zh) * | 2022-01-04 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | 一种捷联惯导系统现场快速自标定方法 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102252689A (zh) * | 2010-05-19 | 2011-11-23 | 北京国浩传感器技术研究院(普通合伙) | 一种基于磁传感器的电子罗盘校准方法 |
US20120203487A1 (en) * | 2011-01-06 | 2012-08-09 | The University Of Utah | Systems, methods, and apparatus for calibration of and three-dimensional tracking of intermittent motion with an inertial measurement unit |
CN103776451A (zh) * | 2014-03-04 | 2014-05-07 | 哈尔滨工业大学 | 一种基于mems的高精度三维姿态惯性测量系统以及测量方法 |
CN105352487A (zh) * | 2015-10-13 | 2016-02-24 | 上海华测导航技术股份有限公司 | 一种姿态测量系统的精度校准方法 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0625671B2 (ja) * | 1987-08-28 | 1994-04-06 | 日本航空電子工業株式会社 | 慣性航法装置 |
RU2098764C1 (ru) * | 1996-05-29 | 1997-12-10 | Русланов Александр Семенович | Способ определения местоположения подвижных объектов и устройство для его реализации |
CA2253052A1 (en) * | 1997-01-31 | 1998-10-29 | Greenfield Enterprises, Inc. | Navigation system and method |
US7376507B1 (en) * | 2004-05-27 | 2008-05-20 | Sandia Corporation | Geophysics-based method of locating a stationary earth object |
US7275008B2 (en) * | 2005-09-02 | 2007-09-25 | Nokia Corporation | Calibration of 3D field sensors |
US7451549B1 (en) * | 2006-08-09 | 2008-11-18 | Pni Corporation | Automatic calibration of a three-axis magnetic compass |
US8005635B2 (en) * | 2007-08-14 | 2011-08-23 | Ching-Fang Lin | Self-calibrated azimuth and attitude accuracy enhancing method and system (SAAAEMS) |
DE102008042989A1 (de) * | 2008-10-21 | 2010-04-22 | Robert Bosch Gmbh | Elektronischer Kompass |
US8645093B2 (en) * | 2009-11-04 | 2014-02-04 | Qualcomm Incorporated | Calibrating multi-dimensional sensor for offset, sensitivity, and non-orthogonality |
CN103153790B (zh) * | 2010-10-01 | 2016-06-08 | 希尔克瑞斯特实验室公司 | 使用运动传感器和附接至装置的磁力计的测量数据估计该装置在重力参照系中的偏航角的设备和方法 |
KR101209571B1 (ko) * | 2010-10-20 | 2012-12-07 | 한국과학기술연구원 | 자동 교정 방법 및 장치 |
US9541393B2 (en) * | 2011-06-30 | 2017-01-10 | Qualcomm Incorporated | Reducing power consumption or error of digital compass |
US9683865B2 (en) * | 2012-01-26 | 2017-06-20 | Invensense, Inc. | In-use automatic calibration methodology for sensors in mobile devices |
KR101503046B1 (ko) * | 2013-08-22 | 2015-03-24 | 한국과학기술연구원 | 다축 감지 장치 및 이의 교정 방법 |
CN104898681B (zh) * | 2015-05-04 | 2017-07-28 | 浙江工业大学 | 一种采用三阶近似毕卡四元数的四旋翼飞行器姿态获取方法 |
-
2015
- 2015-10-13 CN CN201510665021.XA patent/CN105352487B/zh active Active
-
2016
- 2016-07-04 US US15/542,931 patent/US10605619B2/en active Active
- 2016-07-04 EP EP16854769.3A patent/EP3364151B1/en active Active
- 2016-07-04 WO PCT/CN2016/088303 patent/WO2017063386A1/zh active Application Filing
- 2016-07-04 RU RU2017125953A patent/RU2662458C1/ru not_active IP Right Cessation
- 2016-07-04 KR KR1020177023778A patent/KR102008597B1/ko active IP Right Grant
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102252689A (zh) * | 2010-05-19 | 2011-11-23 | 北京国浩传感器技术研究院(普通合伙) | 一种基于磁传感器的电子罗盘校准方法 |
US20120203487A1 (en) * | 2011-01-06 | 2012-08-09 | The University Of Utah | Systems, methods, and apparatus for calibration of and three-dimensional tracking of intermittent motion with an inertial measurement unit |
CN103776451A (zh) * | 2014-03-04 | 2014-05-07 | 哈尔滨工业大学 | 一种基于mems的高精度三维姿态惯性测量系统以及测量方法 |
CN105352487A (zh) * | 2015-10-13 | 2016-02-24 | 上海华测导航技术股份有限公司 | 一种姿态测量系统的精度校准方法 |
Non-Patent Citations (2)
Title |
---|
LIU, YANXIA ET AL.: "Three-Axis Accelerometer Error Calibration and Compensation based on Ellisoid Hypothesis", TRANSDUCER AND MICROSYSTEM TECHNOLOGIES, vol. 33, no. 6, 31 December 2014 (2014-12-31), XP009509388, ISSN: 2096-2436 * |
ZHANG, WEI ET AL.: "Automatic Error Compensation Method of Three-Axis Electronic Compass Based on the Fluxgate", CHINESE JOURNAL OF SENSORS AND ACTUATORS, vol. 25, no. 12, 31 December 2012 (2012-12-31), XP055375420, ISSN: 1004-1699 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017220867A1 (de) * | 2017-11-22 | 2019-05-23 | Robert Bosch Gmbh | Verfahren zum automatischen Kalibrieren und Verfahren zum Verwenden eines Beschleunigungssensors |
CN114264997A (zh) * | 2021-12-14 | 2022-04-01 | 武汉联影生命科学仪器有限公司 | 梯度灵敏度校准方法、装置及磁共振设备 |
CN114264997B (zh) * | 2021-12-14 | 2024-03-22 | 武汉联影生命科学仪器有限公司 | 梯度灵敏度校准方法、装置及磁共振设备 |
CN116224468A (zh) * | 2023-05-10 | 2023-06-06 | 华中光电技术研究所(中国船舶集团有限公司第七一七研究所) | 一种陆地重力仪标定方法及标定系数 |
CN116224468B (zh) * | 2023-05-10 | 2023-08-22 | 华中光电技术研究所(中国船舶集团有限公司第七一七研究所) | 一种陆地重力仪标定方法及标定系数 |
Also Published As
Publication number | Publication date |
---|---|
RU2662458C1 (ru) | 2018-07-26 |
EP3364151B1 (en) | 2020-11-25 |
EP3364151A4 (en) | 2019-06-19 |
KR20170105619A (ko) | 2017-09-19 |
US10605619B2 (en) | 2020-03-31 |
CN105352487A (zh) | 2016-02-24 |
EP3364151A1 (en) | 2018-08-22 |
US20180010923A1 (en) | 2018-01-11 |
KR102008597B1 (ko) | 2019-08-07 |
CN105352487B (zh) | 2018-06-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017063386A1 (zh) | 一种姿态测量系统的精度校准方法 | |
CN107024674B (zh) | 一种基于递推最小二乘法的磁强计现场快速标定方法 | |
CN108426571B (zh) | 一种电子罗盘本地实时校准方法及装置 | |
CN110146839A (zh) | 一种移动平台磁梯度张量系统校正方法 | |
CN110361683A (zh) | 基于双目标函数粒子群优化的磁力计校正方法 | |
CN107870001A (zh) | 一种基于椭球拟合的磁力计校正方法 | |
WO2022160391A1 (zh) | 磁力计信息辅助的mems陀螺仪标定方法及标定系统 | |
KR101698682B1 (ko) | 지자기 센서의 출력값을 보정하는 방법 및 장치 | |
CN111189474A (zh) | 基于mems的marg传感器的自主校准方法 | |
CN108645404A (zh) | 一种小型多旋翼无人机姿态解算方法 | |
US20110060543A1 (en) | Method for self-adjustment of a triaxial acceleration sensor during operation, and sensor system having a three -dimentional acceleration sensor | |
CN112525144B (zh) | 一种非线性姿态检测补偿方法及终端 | |
CN108088431B (zh) | 一种自校正电子罗盘及其校正方法 | |
CN111982155B (zh) | 磁传感器的标定方法、装置、电子设备和计算机存储介质 | |
CN106092140B (zh) | 一种陀螺仪零偏估计方法 | |
Chen et al. | High-precision geomagnetic directional technology based on sensor error correction and adaptive hybrid filter | |
Liu et al. | Two-step calibration method for three-axis magnetic sensor error based on particle swarm optimization | |
CN110160530B (zh) | 一种基于四元数的航天器姿态滤波方法 | |
CN112632454A (zh) | 一种基于自适应卡尔曼滤波算法的mems陀螺滤波方法 | |
CN116753987A (zh) | 一种三轴地磁传感器误差标定方法 | |
CN110672127A (zh) | 阵列式mems磁传感器实时标定方法 | |
CN114089244B (zh) | 一种捷联三轴磁强计两步标定方法 | |
CN109737940A (zh) | 一种电子罗盘实时自由校准方法及装置 | |
CN112683265B (zh) | 一种基于快速iss集员滤波的mimu/gps组合导航方法 | |
CN109211271B (zh) | 一种磁罗盘自校正方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16854769 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15542931 Country of ref document: US |
|
REEP | Request for entry into the european phase |
Ref document number: 2016854769 Country of ref document: EP |
|
ENP | Entry into the national phase |
Ref document number: 2017125953 Country of ref document: RU Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 20177023778 Country of ref document: KR Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |