检索结果-内蒙古大学图书馆

attitude algorithm of Gyroscope-Free Strapdown Inertial Navigation System Using Kalman Filter

MICROMACHINES 2024年第3期15卷 346-346页

作者： Jiang, Xiong Liu, Tao Duan, Jie Hou, Maosheng Changchun Univ Sci & Technol Sch Optoelect Engn Changchun 130022 Peoples R China

A gyroscope-free strapdown inertial navigation system (GFSINS) solves the carrier attitude through the reasonable spatial combination of accelerometers, with a particular focus on the precision of angular velocity calculation. This paper conducts an analysis of a twelve-accelerometer configuration scheme and proposes an angular velocity fusion algorithm based on the Kalman filter. To address the sign misjudgment issue that may arise when calculating angular velocity using the extraction algorithm, a sliding window correction method is introduced to enhance the accuracy of angular velocity calculation. Additionally, the data from the integral algorithm and the data from the improved extraction algorithm are fused using Kalman filtering to obtain the optimal estimation of angular velocity. Simulation results demonstrate that this algorithm significantly reduces the maximum value and standard deviation of angular velocity error by one order of magnitude compared to existing algorithms. Experimental results indicate that the algorithm's calculated angle exhibits an average difference of less than 0.5 degrees compared to the angle measured by the laser tracker. This level of accuracy meets the requirements for attitude measurement in the laser scanning projection system.

关键词： attitude algorithm accelerometer array angular velocity calculation Kalman filtering

来源：评论

学校读者我要写书评

暂无评论

attitude algorithm and Calculation of Limb Length Based on Motion Capture Data

Attitude Algorithm and Calculation of Limb Length Based on M...

引用

IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO)

作者： Wang, Nianfeng Huang, Jiegang Yue, Fan Zhang, Xianmin South China Univ Technol Sch Mech & Automot Engn Dept Guangdong Prov Key Lab Precis Equipment & Mf Guangzhou 510640 Peoples R China

ISBN: (纸本)9781665405355

In allusion to the difficulty of measuring the length of human limbs, a length calibration method based on the motion capture data is proposed. Motion capture makers are respectively pasted on each limb to collect the motion data in the calibration experiment and iteratively calculate the relative coordinates of joints. This paper also proposes an attitude algorithm under the motion capture system. The Euler angles of the limb at every moment can be calculated only by the motion data of the markers, which overcomes the singularity problem of Euler angles in the common motion patterns. Through horizontal comparison, the results show that the above two algorithms are effective and feasible.

关键词： length calculation of human limbs attitude algorithm motion capture data

来源：评论

学校读者我要写书评

暂无评论

SINS attitude algorithm based on moving-window overdetermined polynomial fitting of gyro outputs

引用

MEASUREMENT SCIENCE AND TECHNOLOGY 2022年第1期33卷 015015-015015页

作者： Fang, Huai Chang, Guobin Bao, Zhi Chen, Kai Han, Xiannan China Univ Min & Technol Sch Environm Sci & Spatial Informat Daxue Rd 1 Xuzhou 221116 Jiangsu Peoples R China China Univ Min & Technol NASG Key Lab Land Environm & Disaster Monitoring Xuzhou 221116 Jiangsu Peoples R China

The attitude algorithm is the most important part of the whole strapdown inertial navigation processing. It calculates the attitude of certain parameterization by integrating the gyro outputs or measurements in a specifically tailored way according to the attitude kinematic differential equation. The measurements or some angular velocity models obtained by fitting these measurements are often assumed free of errors in order to assess the numerical errors only. However, the gyro outputs and hence the models from them are by no means free of measurement errors. It is more often than not that the measurement errors dominate the numerical ones in practice. In this study, with coping with the measurement errors as the focus, we aim to improve the angular velocity model which is used as input in an attitude integration algorithm. This is achieved by exploiting the potential of overdetermined least-squares polynomial fitting. In order to avoid reducing the update rate by incorporating more measurements, the moving window trick is employed to re-use measurements in the previous update interval. The conventional attitude algorithm with second-order approximation in solving the differential equation of the equivalent rotation vector is employed as an example;however, the proposed method can be readily applied to other parameterizations such as direction cosine matrix, quaternion or Rodrigues parameters, and other high order approximations in solving the differential equation widely studied recently.

关键词： strap-down inertial navigation system attitude algorithm moving window overdetermined polynomial fitting least-squares

来源：评论

学校读者我要写书评

暂无评论

Precision of the attitude algorithm of the strap-down inertial navigation system 9

Precision of the attitude algorithm of the strap-down inerti...

引用

9th International Symposium on Advanced Optical Manufacturing and Testing Technologies (AOMATT) - Optical Test, Measurement Technology, and Equipment

作者： Zhang Wei Shi Kui Ai Yun Guo Juan Chinese Acad Sci Xian Inst Opt & Precis Mech Xian 710119 Shaanxi Peoples R China

ISBN: (数字)9781510623217

ISBN: (纸本)9781510623217

Based on the principle of the strap-down inertial navigation system and the attitude algorithm, a novel evaluation method is proposed. It could be used to effectively diagnostic the precision of the attitude algorithm. The experimental data including algorithm 1 (N=2, P=0, optimal two-sample), algorithm 2 (N=2, P=1) and algorithm 3 (N=2, P=2) is recorded. The precision of the three algorithms is evaluated by calculating the relative error. In addition, the influence of the sampling frequency on the precision is investigated. The test results show that the precision of algorithm 2 and algorithm 3 is approximate;as the sampling frequency is improved from 1Hz to 20Hz, the precision of the attitude algorithm can research 0.08 degrees. When choosing the attitude algorithm of the strap-down inertial navigation system, increasing the number of the sample not always depresses the coning error, improving the sampling frequency and using the former attitude to renew the number of the sample of the period could improve the precision of the attitude algorithm, further.

关键词： Strap-down Inertial Navigation System attitude algorithm Coning Error Sampling Frequency Precision

来源：评论

学校读者我要写书评

暂无评论

A Novel Laboratory Test for High-Accuracy SINS attitude algorithms Based on the Gyroscope Output Reconstruction Method

引用

IEEE SENSORS JOURNAL 2024年第11期24卷 18024-18034页

作者： Yang, Xiaokang Yan, Gongmin Li, Nan Li, Sihai Ren, Jianxin Northwestern Polytech Univ Sch Automat Xian 710129 Peoples R China

A laboratory test based on the gyroscope output reconstruction method (GORM) to evaluate the super-high-accuracy strapdown inertial navigation attitude algorithms is proposed herein. A period of coning motion, which inspires noncommutative error (NCE), is simulated by turntable and inertial-grade inertial measurement unit (IMU). The compensation performance of NCE reflects the accuracy of algorithms. The original low-dynamic data are transformed into high-dynamic data by GORM to solve the problem that it is difficult to test super-high-accuracy attitude algorithms in the laboratory. The effectiveness and feasibility of GORM are verified by simulation. The result of practical algorithms' accuracy test of GORM is consistent with simulation. Both indicate GORM can process real test data for high-dynamic-condition algorithm evaluation. It is meaningful for the design and analysis of super-high-accuracy algorithms.

关键词： Heuristic algorithms Vectors Gyroscopes Quaternions Trajectory Inertial navigation Differential equations Accuracy evaluation attitude algorithm high-dynamic maneuver inertial navigation laboratory test

来源：评论

学校读者我要写书评

暂无评论

A modified attitude algorithm for fiber strapdown inertial navigation system

引用

OPTIK 2015年第24期126卷 5207-5212页

作者： Hu, Jie Cheng, Xianghong Southeast Univ Sch Instrument Sci & Engn Nanjing 210096 Jiangsu Peoples R China Minist Educ Key Lab Microinertial Instrument & Adv Nav Techno Nanjing 210096 Jiangsu Peoples R China

A novel attitude algorithm for fiber strapdown inertial navigation system (SINS) is studied in this paper. The noncommutativity rotation is one of the major errors in attitude updating for SINS. As a general rule, accuracy can be improved by increasing attitude updating frequency. However, it is limited by gyro and computer technology. To solve this problem, a modified algorithm for fiber SINS is proposed. This algorithm uses angular rate as algorithm input and estimates the noncommutativity error with the cross product of angular rates and the cross product of previous accumulated gyro outputs with current gyro outputs. Simulations and experiments are performed under coning motion and three-axis turntable environment, and the results show that the accuracy of the proposed algorithm can be improved effectively under coning motion, as well as in three-axis turntable environment, though not as greatly. (C) 2015 Elsevier GmbH. All rights reserved.

关键词： Strapdown inertial navigation system (SINS) attitude algorithm Noncommutativity error Coning motion Three-axis turntable

来源：评论

学校读者我要写书评

暂无评论

attitude algorithm system design of quad-rotor aircraft based on STM32

Attitude algorithm system design of quad-rotor aircraft base...

引用

Fifth Asia International Symposium on Mechatronics (AISM 2015)

作者： C. He Z. Li Y.J. Wang Guilin University of Electronic Technology Guilin Guangxi CN Guilin University of Aerospace Technology Guangxi 541004 China

In this paper, a quad-rotor attitude algorithm system based on STM32 is discussed. This system uses a low-cost AHRS reference system to measure the attitude of aircraft, to merge data with complementary filter algorithms and PI control and to calculate the attitude with the data of gyroscope, accelerometer and magnetic by coordinate transformation. Experiments proved that the attitude algorithm system solved the noise interference and optimal estimation of attitude and achieved the requirement of steady, accurate and reliable data output for a long time.

关键词： PI control attitude algorithm complementary filter quad-rotor aircraft quaternion PI control Quaternion complementary filter attitude Quad-rotor noise disturbance Aircraft optimal estimation

来源：评论

学校读者我要写书评

暂无评论

A Super-High-Accuracy attitude Measurement Method of SINS Based on PWQHN algorithm in the High-Dynamic Maneuver Environment

引用

IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 2023年 72卷 1页

作者： Yang, Xiaokang Yan, Gongmin Li, Nan Li, Sihai Northwestern Polytech Univ Sch Automat Xian 710060 Peoples R China

To reduce noncommutative error (NCE) and improve the attitude-update accuracy in the attitude algorithm of the strapdown inertial navigation system (SINS), we assume that angular rate is represented as a polynomial to deduce the relationship between the angular increment sampling sequence and the derivatives of the quaternion. Subsequently, a high-order numerical solution of the quaternion differential equation is obtained by substituting the derivatives of the quaternion into its Taylor expansion. Generally, the quaternion will be constructed with a series of angular increment samples in a constant updating interval. Furthermore, the piecewise quaternion high-order numerical (PWQHN) algorithm is deduced by reconstructing quaternion in each sampling interval to ulteriorly improve attitude accuracy. The simulation results indicate that the PWQHN algorithm is stable in two kinds of simulation conditions. In the coning motion condition, PWQHN algorithm has the highest accuracy. In the high-dynamic condition, the extreme accuracy of PWQHN is not significantly higher than other algorithms. However, PWQHN can still output accurate attitude in the situation without many angular increment subsamples.

关键词： attitude algorithm coning error high-dynamic maneuver inertial navigation Taylor expansion

来源：评论

学校读者我要写书评

暂无评论

A Smart Walking Stick for Gait Analysis of Elderly and People With Disabilities

引用

IEEE SENSORS JOURNAL 2022年第9期22卷 9035-9045页

作者： Zhou, Jing-Long Li, Wen-Feng Zhang, Qiang Xie, Fei Wang, Qi Wuhan Univ Technol Sch Transportat & Logist Engn Wuhan 430063 Peoples R China

Human gait analysis is of considerable significance in the assessment of a user's movement status, abnormality warning and rehabilitation training. In this study, a smart walking stick (SWS) system is developed based on a single 9-axis attitude sensor for gait analysis of the elderly, people with disabilities, and other relevant users. The attitude of the SWS is solved by constructing an error vector of gravitational acceleration as an input to the angular velocity PID algorithm correction. An extended Kalman filter algorithm is used to make an optimal state estimate of the Euler angle. On the basis of such means, a threshold-based approach is adopted to binarize the angle of the SWS and divide the gait cycle, so as to combine the acceleration of the user's movement and obtain information about the user's gait, including the number of steps, stride duration, step length and step speed. The experimental results reveal that the accuracy of the number of steps can reach 100%, and the average error of stride duration, step length and step speed are 0.01 +/- 0.07s, -0.72 +/- 5.22cm and 0.75 +/- 3.74cm/s, respectively, with an average accuracy of 96.43%, 95.20% and 94.45%, respectively.

关键词： Sensors Legged locomotion Older adults Inertial sensors Transportation Logistics Intelligent sensors Smart walking stick gait analysis attitude sensor attitude algorithm optimal state estimate

来源：评论

学校读者我要写书评

暂无评论

A Novel Sensor Fusion Method Based on Invariant Extended Kalman Filter for Unmanned Aerial Vehicle

A Novel Sensor Fusion Method Based on Invariant Extended Kal...

引用

IEEE International Conference on Robotics and Biomimetics (IEEE ROBIO)

作者： Zhou, Xuan Chen, Yi Liu, Yaohua Hu, Jinxing Guilin Univ Elect Technol Sch Elect Engn & Automat 1 Jinji Rd Guilin City 541004 Guangxi Zhuang Peoples R China Chinese Acad Sci Shenzhen Inst Adv Technol 1068 Xueyuan Ave Shenzhen 518055 Peoples R China

ISBN: (纸本)9781665405355

With the development and popularization of the Artificial Intelligence technology, unmanned aerial vehicles (UAV) are widely used to executing more challenging tasks in complex urban environments, such as delivery, inspection and monitoring. Meanwhile, these complex tasks put forward higher demands for the Navigation system of UAV, and the traditional single sensor such as global positioning system (GPS) and inertial navigation system (INS) have been unable to meet the requirements. In this paper, we derive and implement a novel sensor fusion method based on Invariant Extended Kalman filter (InEKF) with left invariant error (LIEKF) for UAV localization in MATLAB, which inertial measurement unit (IMU) data is used for prediction and GPS data is used for correction. The proposed filter is applied to the simulated data that we generated and also to the Zurich Urban Dataset. By comparing the estimated position to the ground truth, LIEKF has outperformed that of the tradition EKF in both attitude and position in simulated data. It also achieved a better tracking effect and more stable performance in Zurich Urban Dataset, the uniaxial Standard Deviation errors of LIEKF are lower than the traditional EKF.

关键词： attitude algorithm position estimation GPS IMU UAV

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：