Title:
MOTION STATE MONITORING-BASED ADAPTIVE HORIZONTAL ATTITUDE MEASUREMENT METHOD
Document Type and Number:
WIPO Patent Application WO/2022/222938
Kind Code:
A1
Abstract:
A motion state monitoring-based adaptive horizontal attitude measurement method, comprising: on the basis of an established state space model, using a horizontal attitude angle as a state variable, using an angular velocity increment Δωb for compensating a random constant zero offset as a control input of a system equation, and using a specific force fb for compensating the random constant zero offset as an amount measurement; meanwhile, improving the determining condition for a carrier maneuvering state; and performing determination on carrier maneuvering information by comprehensively utilizing acceleration information and angular velocity information output by a MEMS-IMU, achieving automatic adjustment of a filter measurement noise array, and reducing the effect of carrier maneuvering on horizontal attitude calculation. The motion state monitoring-based adaptive horizontal attitude measurement method has no special requirement on the maneuvering state of a carrier, and can ensure that the system has high attitude measurement precision in different motion states under the condition of no external information assistance.
Inventors:
ZHAO YUXIN (CN)
LI SHUAIYANG (CN)
BEN YUEYANG (CN)
WU LEI (CN)
LI QIAN (CN)
ZHOU GUANGTAO (CN)
ZANG XINLE (CN)
WEI TINGXIAO (CN)
WANG JIANCHENG (CN)
ZHOU YIFAN (CN)
LI SHUAIYANG (CN)
BEN YUEYANG (CN)
WU LEI (CN)
LI QIAN (CN)
ZHOU GUANGTAO (CN)
ZANG XINLE (CN)
WEI TINGXIAO (CN)
WANG JIANCHENG (CN)
ZHOU YIFAN (CN)
Application Number:
PCT/CN2022/087805
Publication Date:
October 27, 2022
Filing Date:
April 20, 2022
Export Citation:
Assignee:
UNIV HARBIN ENG (CN)
International Classes:
G01C21/16; G01C21/18; G01C21/20; G01C21/34; G01C25/00
Foreign References:
| CN113175926A | 2021-07-27 | |||
| CN110132271A | 2019-08-16 | |||
| CN108844536A | 2018-11-20 | |||
| CN109163721A | 2019-01-08 | |||
| CN102096086A | 2011-06-15 | |||
| US20050065728A1 | 2005-03-24 | |||
| CN112629538A | 2021-04-09 |
Attorney, Agent or Firm:
HARBIN SHINEIP INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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