The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 13, 2024
Filed:
Jun. 20, 2022
Harbin Engineering University, Harbin, CN;
Yuxin Zhao, Harbin, CN;
Shuaiyang Li, Harbin, CN;
Yueyang Ben, Harbin, CN;
Lei Wu, Harbin, CN;
Qian Li, Harbin, CN;
Guangtao Zhou, Harbin, CN;
Xinle Zang, Harbin, CN;
Tingxiao Wei, Harbin, CN;
Jiancheng Wang, Harbin, CN;
Yifan Zhou, Harbin, CN;
HARBIN ENGINEERING UNIVERSITY, Harbin, CN;
Abstract
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.