Title:
FUNCTION ITERATIVE INTEGRATION-BASED RIGID BODY ATTITUDE CALCULATION METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/178887
Kind Code:
A1
Abstract:
A function iterative integration-based rigid body attitude calculation method and system, comprising: fitting a Chebyshev polynomial function of an angular velocity according to a gyroscope measurement value in a time interval; utilizing obtained Chebyshev polynomial coefficients of an angular velocity and the Rodrigues' vector integral equation, iteratively calculating the Chebyshev polynomial coefficients of the Rodrigues' vector, and performing polynomial truncation on the result of each iteration according to a preset order; calculating the Rodrigues' vector according to the obtained Chebyshev polynomial coefficients of the Rodrigues' vector and a corresponding Chebyshev polynomial, and giving an attitude change in the time interval in the form of a quaternion. On the basis of the function iterative integration technique, the Rodrigues' vector is used to achieve the fast reconstruction of the attitude from a gyroscope measurement, and the calculation speed is improved without significantly reducing the calculation accuracy.
Inventors:
WU YUANXIN (CN)
Application Number:
PCT/CN2018/081179
Publication Date:
September 26, 2019
Filing Date:
March 29, 2018
Export Citation:
Assignee:
UNIV SHANGHAI JIAOTONG (CN)
International Classes:
G01C21/16
Foreign References:
| CN107339987A | 2017-11-10 | |||
| CN105808508A | 2016-07-27 | |||
| CN102506866A | 2012-06-20 | |||
| CN102519466A | 2012-06-27 | |||
| CN106767780A | 2017-05-31 | |||
| CN102494690A | 2012-06-13 |
Attorney, Agent or Firm:
SHANGHAI HANGSOME INTELLECTUAL PROPERTY LTD. (CN)
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