Title:
YAW ANGLE FUSION METHOD AND DEVICE, AND AIRCRAFT
Document Type and Number:
WIPO Patent Application WO/2021/032201
Kind Code:
A1
Abstract:
A yaw angle fusion method and device, and an aircraft (160). The yaw angle fusion method is applied to an aircraft (160), and can effectively improve the fusion precision and convergence rate of a yaw angle. Said method comprises: acquiring GPS data, IMU data and magnetometer data, the GPS data including: GPS position, speed, acceleration information and GPS speed signal quality, and the IMU data including: IMU acceleration information and IMU angular velocity information (S10); determining a corrected yaw angle according to the IMU data, the GPS data and the magnetometer data (S20); determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data and the corrected yaw angle (S30); determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information (S40); and generating a fused yaw angle according to the corrected yaw angle, the magnetometer alignment deviation angle and the GPS realignment deviation angle (S50).
Inventors:
ZHANG TIANBAO (CN)
LI YINGJIE (CN)
LI YINGJIE (CN)
Application Number:
PCT/CN2020/110592
Publication Date:
February 25, 2021
Filing Date:
August 21, 2020
Export Citation:
Assignee:
AUTEL ROBOTICS CO LTD (CN)
International Classes:
G01C21/20; G01C21/16; G05D1/08
Foreign References:
| CN110487277A | 2019-11-22 | |||
| CN108549399A | 2018-09-18 | |||
| CN105865455A | 2016-08-17 | |||
| CN101000245A | 2007-07-18 | |||
| CN101865693A | 2010-10-20 | |||
| CN102607557A | 2012-07-25 | |||
| US20120065883A1 | 2012-03-15 |
Attorney, Agent or Firm:
LIUJIA CHINA IP LAW OFFICE (CN)
Download PDF:
Previous Patent: AEROSOL GENERATING DEVICE, CHARGING BASE, AND ELECTRIC SYSTEM
Next Patent: ANTI-SEISMIC ASSEMBLY AND MODULAR BUILDING
Next Patent: ANTI-SEISMIC ASSEMBLY AND MODULAR BUILDING