CN114111770B - 一种水平姿态测量方法、***、处理设备及存储介质 - Google Patents
一种水平姿态测量方法、***、处理设备及存储介质 Download PDFInfo
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- CN114111770B CN114111770B CN202111373775.XA CN202111373775A CN114111770B CN 114111770 B CN114111770 B CN 114111770B CN 202111373775 A CN202111373775 A CN 202111373775A CN 114111770 B CN114111770 B CN 114111770B
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- 238000012545 processing Methods 0.000 title claims abstract description 20
- 238000000691 measurement method Methods 0.000 title claims abstract description 17
- 238000003860 storage Methods 0.000 title claims abstract description 17
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- 238000004364 calculation method Methods 0.000 claims abstract description 30
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
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Abstract
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CN202111373775.XA CN114111770B (zh) | 2021-11-19 | 2021-11-19 | 一种水平姿态测量方法、***、处理设备及存储介质 |
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CN114111770A CN114111770A (zh) | 2022-03-01 |
CN114111770B true CN114111770B (zh) | 2024-04-09 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108444467A (zh) * | 2017-11-17 | 2018-08-24 | 西北工业大学 | 一种基于反馈互补滤波和代数逼近的行人定位方法 |
WO2020253854A1 (zh) * | 2019-06-21 | 2020-12-24 | 台州知通科技有限公司 | 移动机器人姿态角解算方法 |
CN112629538A (zh) * | 2020-12-11 | 2021-04-09 | 哈尔滨工程大学 | 基于融合互补滤波和卡尔曼滤波的舰船水平姿态测量方法 |
WO2021090352A1 (ja) * | 2019-11-05 | 2021-05-14 | 楽天株式会社 | 航空機の飛行制御を行う制御装置、及び制御方法 |
CN113175926A (zh) * | 2021-04-21 | 2021-07-27 | 哈尔滨工程大学 | 一种基于运动状态监测的自适应水平姿态测量方法 |
-
2021
- 2021-11-19 CN CN202111373775.XA patent/CN114111770B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108444467A (zh) * | 2017-11-17 | 2018-08-24 | 西北工业大学 | 一种基于反馈互补滤波和代数逼近的行人定位方法 |
WO2020253854A1 (zh) * | 2019-06-21 | 2020-12-24 | 台州知通科技有限公司 | 移动机器人姿态角解算方法 |
WO2021090352A1 (ja) * | 2019-11-05 | 2021-05-14 | 楽天株式会社 | 航空機の飛行制御を行う制御装置、及び制御方法 |
CN112629538A (zh) * | 2020-12-11 | 2021-04-09 | 哈尔滨工程大学 | 基于融合互补滤波和卡尔曼滤波的舰船水平姿态测量方法 |
CN113175926A (zh) * | 2021-04-21 | 2021-07-27 | 哈尔滨工程大学 | 一种基于运动状态监测的自适应水平姿态测量方法 |
Non-Patent Citations (2)
Title |
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He, GY ,et al..Improving the Position Accuracy of the ZUPT-Aided Pedestrian Inertial Navigation by Using a Differential Layout MIMU Array.IEEE SENSORS JOURNAL.第23卷(第19期),23420-23430. * |
级联卡尔曼滤波在初始对准中的应用;张复建;单斌;杨波;薛亮;腾红磊;;计算机测量与控制;20180919(第09期);全文 * |
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Inventor after: Guo Meifeng Inventor after: Yang Haijun Inventor after: Wang Chengbin Inventor after: Li Xin Inventor after: Chen Jianqiang Inventor after: Shi Gengxiu Inventor after: Liang Hongyi Inventor before: Guo Meifeng Inventor before: Yang Haijun Inventor before: Wang Chengbin Inventor before: Li Xin Inventor before: Chen Jianqiang Inventor before: Shi Gengxiu Inventor before: Liang Hongyi |