CN109459005B - 一种姿态估计方法 - Google Patents
一种姿态估计方法 Download PDFInfo
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- CN109459005B CN109459005B CN201811563524.6A CN201811563524A CN109459005B CN 109459005 B CN109459005 B CN 109459005B CN 201811563524 A CN201811563524 A CN 201811563524A CN 109459005 B CN109459005 B CN 109459005B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
- G01C19/5776—Signal processing not specific to any of the devices covered by groups G01C19/5607 - G01C19/5719
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CN201811563524.6A CN109459005B (zh) | 2018-12-20 | 2018-12-20 | 一种姿态估计方法 |
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CN109459005A CN109459005A (zh) | 2019-03-12 |
CN109459005B true CN109459005B (zh) | 2020-07-10 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011227017A (ja) * | 2010-04-23 | 2011-11-10 | Univ Of Tokyo | 慣性センサ,磁気センサおよび速度計を用いた移動体の姿勢推定装置および姿勢推定方法 |
EP2718670A1 (fr) * | 2011-06-07 | 2014-04-16 | Movea | Procede d'estimation simplifie de l'orientation d'un objet et centrale d'attitude mettant en uvre un tel procede |
CN106228751A (zh) * | 2016-08-26 | 2016-12-14 | 陈雷 | 基于安卓平台mems/磁传感器/gps的跌倒智能报警***与方法 |
CN108827299A (zh) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | 一种基于改进四元数二阶互补滤波的飞行器姿态解算方法 |
CN108827313A (zh) * | 2018-08-10 | 2018-11-16 | 哈尔滨工业大学 | 基于扩展卡尔曼滤波器的多模式旋翼飞行器姿态估计方法 |
Family Cites Families (4)
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KR100643400B1 (ko) * | 2005-01-07 | 2006-11-10 | (주)마이크로인피니티 | 입력 장치의 자세 측정 방법 및 그 장치 |
CN101782391A (zh) * | 2009-06-22 | 2010-07-21 | 北京航空航天大学 | 机动加速度辅助的扩展卡尔曼滤波航姿***姿态估计方法 |
CN102692225B (zh) * | 2011-03-24 | 2015-03-11 | 北京理工大学 | 一种用于低成本小型无人机的姿态航向参考*** |
US20150241244A1 (en) * | 2014-02-23 | 2015-08-27 | PNI Sensor Corporation | Low-power orientation estimation |
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- 2018-12-20 CN CN201811563524.6A patent/CN109459005B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011227017A (ja) * | 2010-04-23 | 2011-11-10 | Univ Of Tokyo | 慣性センサ,磁気センサおよび速度計を用いた移動体の姿勢推定装置および姿勢推定方法 |
EP2718670A1 (fr) * | 2011-06-07 | 2014-04-16 | Movea | Procede d'estimation simplifie de l'orientation d'un objet et centrale d'attitude mettant en uvre un tel procede |
CN106228751A (zh) * | 2016-08-26 | 2016-12-14 | 陈雷 | 基于安卓平台mems/磁传感器/gps的跌倒智能报警***与方法 |
CN108827299A (zh) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | 一种基于改进四元数二阶互补滤波的飞行器姿态解算方法 |
CN108827313A (zh) * | 2018-08-10 | 2018-11-16 | 哈尔滨工业大学 | 基于扩展卡尔曼滤波器的多模式旋翼飞行器姿态估计方法 |
Non-Patent Citations (3)
Title |
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Attitude Stabilization of a VTOL Quadrotor Aircraft;Abdelhamid Tayebi 等;《IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY》;20060531;第14卷(第3期);562-571 * |
基于自适应显式互补滤波的姿态解算方法;孙金秋;《测控技术》;20150430;第34卷(第7期);24-27 * |
惯性传感器和互补滤波器在姿态估计中的应用;兰建军;《制造业自动化》;20130930;第35卷(第9期);65-67 * |
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Effective date of registration: 20190415 Address after: 235000 Fenghuang Road, Lantau Peak Economic Development Zone, Xiangshan District, Huaibei, Anhui, 7 Applicant after: ANHUI GUOLI INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 230601 Room 110, Public Rental Building 1 # Building, West Qinglongtan Road, East Feiguang Road, North Export Processing Zone, Binhe District, Hefei Economic and Technological Development Zone, Anhui Province Applicant before: HEFEI YOUKONG TECHNOLOGY CO.,LTD. |
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Address after: 235000 Fenghuang Road, Lantau Peak Economic Development Zone, Xiangshan District, Huaibei, Anhui, 7 Patentee after: Anhui Guoli Intelligent Technology Co.,Ltd. Address before: 235000 Fenghuang Road, Lantau Peak Economic Development Zone, Xiangshan District, Huaibei, Anhui, 7 Patentee before: ANHUI GUOLI INTELLIGENT TECHNOLOGY CO.,LTD. |