CN107656532A - Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift - Google Patents
Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift Download PDFInfo
- Publication number
- CN107656532A CN107656532A CN201710818186.5A CN201710818186A CN107656532A CN 107656532 A CN107656532 A CN 107656532A CN 201710818186 A CN201710818186 A CN 201710818186A CN 107656532 A CN107656532 A CN 107656532A
- Authority
- CN
- China
- Prior art keywords
- data
- gyro
- unmanned plane
- gyro data
- drift
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013016 damping Methods 0.000 claims abstract description 25
- 230000009467 reduction Effects 0.000 claims description 9
- 239000006096 absorbing agent Substances 0.000 claims description 8
- 238000001914 filtration Methods 0.000 claims description 3
- 230000005389 magnetism Effects 0.000 abstract description 4
- 238000004422 calculation algorithm Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 241001269238 Data Species 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses a kind of method, apparatus, system and unmanned plane for reducing the drift of unmanned plane yaw data, this method includes：The geomagnetic data and the first gyro data, the second gyro data of the unmanned plane are obtained, first gyro data is the gyro data in the unmanned plane, and second gyro data is the gyro data in the head vibration damping box of unmanned plane；When the geomagnetic data distortion, then first gyro data is compensated by the second gyro data of the unmanned plane of acquisition, obtain the 3rd gyro data, the 3rd gyro data is used to reduce the unmanned plane yaw data drift.This method can effectively reduce influence of the earth magnetism distortion to UAV Attitude, add the reliability that yaw data is only sought with gyro data, reduce aircraft bombing probability.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to a kind of method, apparatus for reducing the drift of unmanned plane yaw data, it is
System and unmanned plane.
Background technology
In the winged control algorithm of unmanned plane, the accuracy of each sensing data is most important.In attitude algorithm, gyroscope
Dynamic response characteristic is good, but can produce accumulated error；Magnetometer measures posture does not produce accumulated error, but its dynamic response
It is poor.Therefore, in attitude algorithm, generally using the data fusion of magnetometer and gyroscope, the drift of yaw axis data is reduced
Problem.
The absolute object of reference of magnetometer sensor is the magnetic line of force in earth's magnetic field, is that use range is big the characteristics of earth magnetism, but by force
Spend relatively low, it is easy to disturbed by other magnets in surrounding environment, therefore magnetometer sensor is except there is dynamic response difference
Outside shortcoming, magnetometer data distortion when also there is a situation where to enter strong magnetic disturbance environment during unmanned plane during flying.If use
The magnetometer data of distortion carries out attitude algorithm, it is easy to aircraft bombing problem occurs.
The content of the invention
In order to solve the above problems, the invention provides a kind of method, apparatus for reducing the drift of unmanned plane yaw data and
Unmanned plane.
According to an aspect of the invention, there is provided a kind of method for reducing the drift of unmanned plane yaw data, this method bag
Include：
Obtain the geomagnetic data and the first gyro data, the second gyro data of the unmanned plane, first gyro
Instrument data are the gyro data in the unmanned plane, and second gyro data is in the head vibration damping box of the unmanned plane
Gyro data；
When the geomagnetic data distortion, then by second gyro data of acquisition to first gyro data
Compensation, obtains the 3rd gyro data, and the 3rd gyro data is used to reduce the unmanned plane yaw data drift.
The invention also discloses a kind of device for reducing the drift of unmanned plane yaw data, the device includes：Data acquisition mould
Block, for obtaining the geomagnetic data and the first gyro data, the second gyro data of the unmanned plane, first gyroscope
Data are the gyro data in the unmanned plane, and second gyro data is in the head vibration damping box of the unmanned plane
Gyro data；
Compensation data module, when the geomagnetic data distortion, then the compensation data module pass through acquisition described second
Gyro data is compensated first gyro data, obtains the 3rd gyro data, and the 3rd gyro data is used for
Reduce the unmanned plane yaw data drift.
The invention also discloses a kind of system for reducing the drift of unmanned plane yaw data, the system includes：
One or more memory cell, executable instruction, and one or more processing units are stored with, can described in execution
Execute instruction, to realize a kind of method of above-mentioned reduction unmanned plane yaw data drift.
The invention also discloses a kind of unmanned plane, the unmanned plane includes a kind of above-mentioned unmanned plane yaw data that reduces and drifted about
Device.
The present invention obtain first unmanned plane geomagnetic data and the first gyro data, the second gyro data wherein, the
One gyro data is the gyro data in unmanned plane, and the second gyro data is the gyro data in head vibration damping box；
When geomagnetic data distortion, then first gyro data is mended by the second gyro data of the unmanned plane of acquisition
Repay, obtain the 3rd gyro data, seek yaw data information in posture using the 3rd gyro data, can effectively reduce ground
Influence of the magnetic distortion to UAV Attitude, the reliability that yaw data is only sought with gyro data is added, reduce aircraft bombing probability.
Brief description of the drawings
Fig. 1 is a kind of method flow diagram for reduction unmanned plane yaw data drift that one embodiment of the invention provides；
Fig. 2 for it is provided in an embodiment of the present invention it is a kind of judge geomagnetic data whether the coordinate schematic diagram of distortion；
Fig. 3 is a kind of installation drawing for reduction unmanned plane yaw data drift that one embodiment of the invention provides；
Fig. 4 is another installation drawing for reducing the drift of unmanned plane yaw data that one embodiment of the invention provides；
Fig. 5 is the system diagram that another that one embodiment of the invention provides reduces the drift of unmanned plane yaw data.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
In the following description when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different accompanying drawings represent same or similar
Key element.Embodiment described in following exemplary embodiment does not represent all embodiment party consistent with the application
Formula.On the contrary, they are only the device consistent with some aspects being described in detail in such as appended claims, the application and side
The example of method.
It is only merely for the purpose of description specific embodiment in term used in this application, and is not intended to be limiting the application.
" one kind " of singulative used in the application and appended claims, " described " and "the" are also intended to including majority
Form, unless context clearly shows that other implications.
Fig. 1 is a kind of method flow diagram for reduction unmanned plane yaw data drift that one embodiment of the invention provides, such as
Shown in Fig. 1, this method comprises the following steps：
Step S11：Obtain the geomagnetic data and the first gyro data, the second gyro data of unmanned plane, the first gyro
Instrument data are the gyro data in unmanned plane, and the second gyro data is the gyroscope number in the head vibration damping box of unmanned plane
According to the data obtained by the vibration absorber of unmanned plane after head vibration damping box vibration damping, the wherein vibration absorber are used to filter
The high frequency componentses of the unmanned plane；
Step S12：When geomagnetic data distortion, then by the second gyro data of the unmanned plane of acquisition to the first gyroscope
Compensation data, obtains the 3rd gyro data, and the 3rd gyro data is used to reduce the drift of unmanned plane yaw data.
Start magnetometer module, in the geomagnetic data, gyro data and head vibration damping box periodically in acquisition unmanned plane
Gyro data after judge acquired geomagnetic data whether distortion, referring to Fig. 2, Fig. 2 is provided in an embodiment of the present invention one
Kind judge geomagnetic data whether the coordinate schematic diagram of distortion, i.e., respectively contrast geomagnetic data when x-axis direction any two is adjacent
Component of the component and contrast geomagnetic data at quarter in y-axis direction any two adjacent moment；If any two in x-axis direction is adjacent
The absolute value of the component difference at moment is not more than predetermined threshold value, and the component difference of y-axis direction any two adjacent moment is exhausted
Predetermined threshold value is also not more than to value, then judges the non-distortion of geomagnetic data；If the component of any two adjacent moment in x-axis direction is poor
The absolute value of value is more than predetermined threshold value, or the component difference of y-axis direction any two adjacent moment absolute value be more than it is default
Threshold value, then judge geomagnetic data distortion.The geomagnetic data of acquired unmanned plane is judged using Effective judgement formula is
No distortion, the formula are：
Wherein, MagxkIt it is the geomagnetic data k moment in the component in x-axis direction, Magxk-1The geomagnetic data k-1 moment is in x-axis side
To component, MagykThe geomagnetic data k moment is in the component in y-axis direction, Magyk-1It it is the geomagnetic data k-1 moment in y-axis direction
Component, T are predetermined threshold value.
When the non-distortion of the geomagnetic data of acquired unmanned plane, then using the geomagnetic data of acquired unmanned plane and nobody
The gyro data of machine carries out fusion and seeks yaw data information in posture；When the geomagnetic data distortion of acquired unmanned plane, then
The use of the geomagnetic data is abandoned, the gyroscope number of unmanned plane is compensated using the gyro data in acquired head vibration damping box
According to the gyro data of the unmanned plane after being compensated, yaw data information in posture being sought using this data, and then reduce nobody
The drift of machine yaw data, i.e., the gyro data of the unmanned plane after being compensated using compensation formula, the compensation formula are：
Gyro3=(1-a) * Gyro1+a*Gyro2；
Wherein, Gyro3For the 3rd gyro data, Gyro1For first gyro data, Gyro2For described
Two gyro datas, a are penalty coefficient, i.e., according to the first gyro data and the second gyro data, it is determined that the obtain the 3rd
The penalty coefficient of gyro data, a ∈ [0,1].
In certain embodiments, method also includes shown in Fig. 1：Circulation flag bit is set, and the value of the circulation flag bit is
True or false；According to the value of the circulation flag bit, it is determined whether continue or terminate judge the geomagnetic data whether distortion.Example
Such as, the value that the circulation flag bit is set in program is 1 or 0, wherein, 1 represents circulation flag bit as true value, and 0 represents circulation mark
Will position is falsity, when geomagnetic data distortion, if the circulation flag bit value of algorithm used in terminating is 1, that is, circulates flag bit
For true value, then the operation of this method program thereby is terminated, if the circulation flag bit value of algorithm used in terminating is 0, that is, circulated
Flag bit is falsity, then continue to run with judge geomagnetic data whether distortion the step for；Similarly, when the non-distortion of geomagnetic data
When, if the circulation flag bit value of algorithm used in terminating is 1, that is, it is true value to circulate flag bit, then terminates journey used in this method
The operation of sequence, if the circulation flag bit value of algorithm used in terminating is 0, that is, it is falsity to circulate flag bit, then continues to run with and sentence
Disconnected geomagnetic data whether distortion the step for.
Unmanned plane frequently encounters strong magnetic disturbance in flight course, in this case, the magnetometer sensing in unmanned plane
Because being caused the larger error of magnetometer data output by strong magnetic influence, accuracy substantially reduces device, now, is continuing with unmanned plane
In magnetometer data and gyro data carry out merge acquisition unmanned plane yaw axis data, it is clear that be wrong.In order to protect
The safety of unmanned plane is demonstrate,proved, magnetometer data is detected in real time, once magnetometer data distortion is found, the control in unmanned plane
Device then calls the accumulated error of gyroscope in the gyro data amendment unmanned plane being placed in head vibration damping box, only uses gyroscope
Data calculation yaw data.Head is placed on unmanned plane, itself has one group of gyro data, and the gyro data is pacified
It is placed in head vibration damping box.Increase steady required Inertial Measurement Unit IMU, and and body because head vibration damping box includes head
Between have the Damping modules such as buffering ball, the high frequency componentses of a big chunk unmanned plane have been filtered, so as to effectively reduce gyroscope
Drift, therefore the gyro data signal to noise ratio in head vibration damping box is higher, the driftage number of axle being calculated using the data
According to more true and reliable.
Fig. 3 is a kind of installation drawing for reduction unmanned plane yaw data drift that one embodiment of the invention provides, such as Fig. 3 institutes
Show, the device includes：
Data acquisition module 301, for obtaining the geomagnetic data and the first gyro data, the second gyroscope number of unmanned plane
According to the first gyro data is the gyro data in unmanned plane, and the second gyro data is the gyroscope in head vibration damping box
The data provided after the vibration absorber vibration damping that data, as head vibration damping box pass through unmanned plane, wherein vibration absorber are located at head
Between vibration damping box and unmanned plane, for filtering the high frequency componentses of unmanned plane.
Compensation data module 302, when geomagnetic data distortion, then by the second gyro data of the unmanned plane of acquisition to
One gyro data compensates, and obtains the 3rd gyro data, and the 3rd gyro data is used to reduce the drift of unmanned plane yaw data.
Fig. 4 is that the another kind that one embodiment of the invention provides reduces the installation drawing that unmanned plane yaw data drifts about, such as Fig. 4
Shown, the device includes：Data acquisition module 301；Compensation data module 302；Distortion judge module 401；Penalty coefficient determines
Module 402；Computing module 403；Cycle criterion module 404.
Wherein data acquisition module 301 and data compensating module 302 have been made to explain in detail in the embodiment shown in fig. 3
State, will not be repeated here.
Distortion judge module 401, for judge obtain unmanned plane geomagnetic data whether distortion；
Penalty coefficient determining module 402, for according to first gyro data and second gyro data, really
Surely the penalty coefficient of the 3rd gyro data is obtained.
Computing module 403, for when the geomagnetic data and unmanned plane of the non-distortion of geomagnetic data, the then unmanned plane that use obtains
Gyro data carry out fusion and seek yaw data information in posture.
Cycle criterion module 404, flag bit is circulated for setting, the value for circulating flag bit is true or false, according to circulation
The value of flag bit, it is determined whether continue to run with or terminate to run distortion judging unit.
Wherein, distortion judge module 401, specifically for contrasting geomagnetic data respectively when x-axis direction any two is adjacent
Component of the component and contrast geomagnetic data at quarter in y-axis direction any two adjacent moment；If any two in x-axis direction is adjacent
The absolute value of the component difference at moment is not more than predetermined threshold value, and the absolute value of the component of y-axis direction any two adjacent moment
Also it is not more than predetermined threshold value, then judges the non-distortion of geomagnetic data；If the component difference of any two adjacent moment in x-axis direction
Absolute value is more than predetermined threshold value, or the absolute value of the component of y-axis direction any two adjacent moment is more than predetermined threshold value, then sentences
Disconnected geomagnetic data distortion.
Compensation data module is compensated first gyro data by below equation, obtains the 3rd gyroscope number
According to：
Gyro3=(1-a) * Gyro1+a*Gyro2；
Wherein, Gyro3For the 3rd gyro data, Gyro1For first gyro data, Gyro2For described
Two gyro datas, a are penalty coefficient, i.e., according to the first gyro data and the second gyro data, it is determined that the obtain the 3rd
The penalty coefficient of gyro data, a ∈ [0,1].
Fig. 5 is another system for reducing the drift of unmanned plane yaw data that one embodiment of the invention provides, such as Fig. 5 institutes
Show, the system includes memory 501 and processor 502, is communicated between memory 501 and processor 502 by internal bus 503
Connection, memory 501 are stored with the computer program that can be performed by processor 502, and computer program is performed by processor 502
When can realize a kind of above-mentioned reduction unmanned plane yaw data drift method.
In various embodiments, memory 501 can be internal memory or nonvolatile memory.It is wherein non-volatile to deposit
Reservoir can be：Memory driver (such as hard disk drive), solid state hard disc, any kind of storage dish (such as CD, DVD),
Either similar storage medium or combinations thereof.Internal memory can be：RAM (Radom Access Memory, arbitrary access
Memory), volatile memory, nonvolatile memory, flash memory.Further, nonvolatile memory and internal memory can as machine
Storage medium is read, the computer program performed by processor 502 can be stored thereon, realize foregoing reduction unmanned plane yaw data
The method of drift, this method have been elaborated in the embodiment that Fig. 1 is provided, will not be repeated here.
One embodiment of the invention also discloses a kind of unmanned plane, and it is inclined that the unmanned plane includes a kind of above-mentioned reduction unmanned plane
The device of boat data wander.
For device embodiment, because it corresponds essentially to embodiment of the method, so related part is real referring to method
Apply the part explanation of example.Device embodiment described above is only schematical, can select according to the actual needs
Some or all of module therein is selected to realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying wound
In the case that the property made is worked, you can to understand and implement.
The present invention starts magnetometer module by starting magnetometer module, periodically obtain geomagnetic data in unmanned plane,
Gyro data in gyro data and head vibration damping box；Judge acquired geomagnetic data whether distortion；Work as geomagnetic data
Distortion, then the use of geomagnetic data is abandoned, the gyro data of unmanned plane is compensated using the gyro data in head vibration damping box
Drift, seek yaw data information in posture using the gyro data of the unmanned plane after compensation；When the non-distortion of geomagnetic data, then
With the gyro data of unmanned plane merge using geomagnetic data and seek yaw data information in posture.This method can detect in real time
The validity of magnetometer data, its data is not used if its data distortion, use instead and compensated through head gyro data
The gyro data of unmanned plane seek yaw data, influence of the earth magnetism distortion to UAV Attitude can be effectively reduced, added
The reliability of yaw data is only sought with gyro data, the earth magnetism of distortion is continuing with after avoiding the occurrence of into strong magnetic disturbance environment
Aircraft bombing problem caused by data.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent substitution and improvements made under the teachings of the present invention etc., are all contained in protection scope of the present invention.
Claims (10)
1. a kind of method for reducing the drift of unmanned plane yaw data, obtain the geomagnetic data and the first gyroscope number of the unmanned plane
According to, the second gyro data, first gyro data is the gyro data in the unmanned plane, second gyroscope
Data are the gyro data in the head vibration damping box of the unmanned plane, it is characterised in that methods described also includes：
When the geomagnetic data distortion, then first gyro data is mended by second gyro data of acquisition
Repay, obtain the 3rd gyro data, the 3rd gyro data is used to reduce the unmanned plane yaw data drift.
2. the method as described in claim 1, it is characterised in that methods described also includes：Subtracted by the vibration absorber of unmanned plane
Second gyro data is obtained after shaking, the vibration absorber is used for the high frequency componentses for filtering the unmanned plane.
3. the method as described in claim 1, it is characterised in that methods described also includes：Acquisition is made by compensation data formula
Second gyro data first gyro data is compensated, obtain the 3rd gyro data：
Gyro3=(1-a) * Gyro1+a*Gyro2；
Wherein, Gyro3For the 3rd gyro data, Gyro1For first gyro data, Gyro2For second top
Spiral shell instrument data, a are penalty coefficient, a ∈ [0,1].
4. method as claimed in claim 3, it is characterised in that methods described also includes：
According to first gyro data and second gyro data, the benefit of the 3rd gyro data is determined
Repay coefficient.
5. a kind of device for reducing the drift of unmanned plane yaw data, described device include data acquisition module, described for obtaining
The geomagnetic data of unmanned plane and the first gyro data, the second gyro data, first gyro data for it is described nobody
Gyro data in machine, second gyro data are the gyro data in the head vibration damping box of the unmanned plane, its
It is characterised by, described device also includes：
Compensation data module, when the geomagnetic data distortion, then second gyro that the compensation data module passes through acquisition
Instrument data are compensated first gyro data, obtain the 3rd gyro data, and the 3rd gyro data is used to reduce
The unmanned plane yaw data drift.
6. device as claimed in claim 5, it is characterised in that second gyroscope that the data acquisition module is got
The data provided after the vibration absorber vibration damping that data pass through unmanned plane for head vibration damping box；The vibration absorber is located at head vibration damping
Between box and unmanned plane, for filtering the high frequency componentses of the unmanned plane.
7. device as claimed in claim 5, it is characterised in that the compensation data module is by below equation to described first
Gyro data compensates, and obtains the 3rd gyro data：
Gyro3=(1-a) * Gyro1+a*Gyro2；
Wherein, Gyro3For the 3rd gyro data, Gyro1For first gyro data, Gyro2For second top
Spiral shell instrument data, a are penalty coefficient, a ∈ [0,1].
8. device as claimed in claim 5, it is characterised in that described device also includes：Penalty coefficient determining module, for root
According to first gyro data and second gyro data, it is determined that obtaining the compensation system of the 3rd gyro data
Number.
9. a kind of system for reducing the drift of unmanned plane yaw data, it is characterised in that the system includes：
One or more memory cell, executable instruction is stored with, and
One or more processing units, the executable instruction is performed, to realize according to any one of claim 1-4
Method.
10. a kind of unmanned plane, it is characterised in that the unmanned plane includes the reduction nothing as any one of claim 5-8
The device of man-machine yaw data drift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818186.5A CN107656532A (en) | 2017-09-12 | 2017-09-12 | Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710818186.5A CN107656532A (en) | 2017-09-12 | 2017-09-12 | Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107656532A true CN107656532A (en) | 2018-02-02 |
Family
ID=61129732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710818186.5A Pending CN107656532A (en) | 2017-09-12 | 2017-09-12 | Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107656532A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223271A1 (en) * | 2018-05-23 | 2019-11-28 | 深圳市道通智能航空技术有限公司 | Correction method and device for yaw of aircraft, and aircraft |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1651862A (en) * | 2003-11-08 | 2005-08-10 | 三星电子株式会社 | Motion estimation method and system for mobile body |
| CN203673351U (en) * | 2013-12-25 | 2014-06-25 | 云南农业大学 | Attitude stabilization system based on double gyroscopes |
-
2017
- 2017-09-12 CN CN201710818186.5A patent/CN107656532A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1651862A (en) * | 2003-11-08 | 2005-08-10 | 三星电子株式会社 | Motion estimation method and system for mobile body |
| CN203673351U (en) * | 2013-12-25 | 2014-06-25 | 云南农业大学 | Attitude stabilization system based on double gyroscopes |
Non-Patent Citations (1)
| Title |
|---|
| 东方赤龙曲和政: "使用补偿算法对陀螺仪和电子罗盘进行数据融合，计算方位角", 《CSDN 博客》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019223271A1 (en) * | 2018-05-23 | 2019-11-28 | 深圳市道通智能航空技术有限公司 | Correction method and device for yaw of aircraft, and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8185309B2 (en) | Enhanced inertial system performance | |
| CN106814753B (en) | Target position correction method, device and system | |
| CN109671105B (en) | Tracking recovery method and device of visual navigation system | |
| CN105737854B (en) | A kind of Strapdown Inertial Navigation System online calibration method | |
| EP3246661B1 (en) | Hybrid inertial measurement unit | |
| CN111426332B (en) | Course installation error determination method and device, electronic equipment and storage medium | |
| US20130204572A1 (en) | State detection device, electronic apparatus, and program | |
| EP1983304A2 (en) | Heading stabilization for aided inertial navigation systems | |
| CN110017837A (en) | A kind of Combinated navigation method of the diamagnetic interference of posture | |
| CN106017459A (en) | Method for resisting magnetic interference | |
| CN111026081B (en) | Error calculation method, device, equipment and storage medium | |
| CN110109551B (en) | Gesture recognition method, device, equipment and storage medium | |
| CN113341443A (en) | Processing method of positioning track information and vehicle-mounted navigation device | |
| CN108196570A (en) | A kind of unmanned plane navigational calibration method, apparatus and unmanned plane | |
| CN107110664B (en) | System and method for effectively balancing/eliminating magnetic interference in magnetic sensors | |
| US20160227090A1 (en) | Optical image stabilizer and camera module including the same | |
| CN113063416B (en) | Robot posture fusion method based on self-adaptive parameter complementary filtering | |
| CN113984049B (en) | Method, device and system for estimating flight trajectory of aircraft | |
| CN107656532A (en) | Reduce method, apparatus, system and the unmanned plane of unmanned plane yaw data drift | |
| US9482554B2 (en) | Gyroscope stabilizer filter | |
| CN112595317B (en) | Unmanned aerial vehicle take-off control method, system, medium, computer equipment and unmanned aerial vehicle | |
| CN107525504B (en) | Combinated navigation method, system and hybrid navigation equipment | |
| CN115839718B (en) | Fusion positioning method and device based on motion constraint | |
| EP2354763A2 (en) | Navigation method and electronic apparatus with navigation function | |
| CN115790615A (en) | Multi-sensor fusion method, device, medium and vehicle based on automatic driving |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180202 |