Harbin Engineering University

Shuaiyang Li

Yuxin Zhao

Lei Wu

Yueyang Ben

Qian Li

Guangtao Zhou

Tingxiao Wei

Qianqian Gao

Xinle Zang

Jiancheng Wang

Yifan Zhou

Xiaofeng Wei

Disclosed is a self-adaptive horizontal attitude measurement method based on motion state monitoring. Based on a newly established state space model, a horizontal attitude angle is taken as a state variable, an angular velocity increment Δωfor compensating a random constant zero offset is taken as a control input of a system equation, and a specific force ffor compensating the random constant zero offset is taken as a measurement quantity. Meanwhile, judgment conditions for a maneuvering state of a carrier are improved, and maneuvering information of the carrier is judged by comprehensively utilizing acceleration information and angular velocity information output by a micro electro mechanical system inertial measurement unit (MEMS-IMU), whereby a measurement noise matrix of a filter can be automatically adjusted, thereby effectively reducing the influence of carrier maneuvering on the calculation of a horizontal attitude. The method has no special requirement on the maneuvering state of the carrier, and can ensure that the system has high attitude measurement precision in different motion states without an external information assistance.

Self-adaptive horizontal attitude measurement method based on motion state monitoring

A strapdown inertial navigation heave measurement method using multiple low-pass filter units includes: firstly, collecting data of a gyroscope and an accelerometer by a system, obtaining attitude information of a carrier by using initial alignment, and then, obtaining a relationship matrix between a body coordinate system and a geographic coordinate system by using the attitude information; obtaining a relationship matrix between the geographic coordinate system and a reference coordinate system according to a geographic position, and obtaining a rough vertical acceleration by using a direction cosine matrix, output information of the accelerometer and gravity information; then, filtering out low-frequency signals by using a first filter unit and integration to obtain a relatively accurate velocity signal; and furthermore, enabling the vertical acceleration to be subjected to a second filter unit and integration to obtain an accurate heave displacement.

Strapdown inertial navigation heave measurement method using multiple low-pass filter units

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Harbin, China

Shuaiyang Li