Lü Jing, Zhang Mingming, Gong Shengpinget al. Aerocaptureperiod under rotating atmospheric environment for Mars vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(3): 315-319,375. (in Chinese)
Citation: Zhao Shifeng, Zhang Hai, Fan Yaozuet al. Attitude estimation method for micro attitude estimation system based on FD[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(03): 336-340. (in Chinese)

Attitude estimation method for micro attitude estimation system based on FD

  • Received Date: 07 Apr 2006
  • Publish Date: 31 Mar 2007
  • The attitude of carrier with the tri-accelerometers and the tri-gyros respectively in a micro inertial measurement unit(MIMU) was estimated. Meanwhile, a strapdown inertial navigation system (SINS) was constructed and a Kalman filter was adopted to estimate attitude error derived from the attitude error equation. The remnants and the statistics were constructed to separate motion state of the carrier by fault detection (FD) method based on state remnant detection and to judge if the attitude estimated by accelerometers was credible. Data fusion method was adopted to fuse the attitude estimated by accelerometers and gyros respectively. So the dynamic performance of the attitude estimation system is guaranteed, and the precision of the attitude estimation is improved. Because micro electro mechanical system(MEMS) inertial components are adopted, the attitude estimation system is small, light, low cost, and suit to micro carriers especially.

     

  • [1] 张文栋.微传感器与微执行器全书[M]. 北京:科学出版社, 2003 Zhang Wendong. Micromachined transducers sourcebook[M]. Beijing:Press of Science, 2003 (in Chinese)[2] 李荣冰, 刘建业, 曾庆化,等. 基于MEMS技术的微型惯性导航系统的发展现状[J]. 中国惯性技术学报, 2004, 6(12):88-94 Li Rongbing, Liu Jianye, Zeng Qinghua, et al. Evolution of MEMS based micro inertial navigation systems[J].Journal of Chinese Inertial Technology, 2004, 6(12):88-94(in Chinese)[3] Bernstein J. An overview of MEMS inertial sensing technology. Sensors, 2003.[4] Hopkins R E, Borestein J T, Antkowiaketal B M, et al. The silicon oscillating accelerometer:a MEMS inertial instrument for strategic missile guidance AIAA Reprinted, with Permission from the Missile Science Conference Held in Monterey. Califoria, USA:, 2000:7-9[5] Vaganay J, Aldon M J, Fournier A. Mobile robot attitude estimation by fusion of inertial data[J]. Robotics and Automation,1993,1(1):277-282[6] Baerveldt, A J, Klang R. A low-cost and low-weight attitude estimation system for anautonomous helicopter Intelligent Engineering Systems, INES '97 Proceedings. Budapest, Hungary:,1997:391-395[7] Sung Kyung Hong. Fuzzy logic based closed-loop strapdown attitude system for unmanned aerial vehicle (UAV)[J]. Sensors and Actuators A,2003, 107:109-118[8] 张树侠, 孙静. 捷联式惯性导航系统[M]. 北京:国防工业出版社, 1992 Zhang Shuxia, Sun Jing. Strapdown inertial navigation system[M]. Beijing:National Defence Industry Press, 1992(in Chinese)[9] 秦永元, 张洪钺, 汪叔华.卡尔曼滤波与组合导航原理[M]. 西安:西北工业大学出版社,1998 Qin Yongyuan, Zhang Hongyue, Wang Shuhua. Kalman filtering and integrated navigation system[M]. Xi’an:Northwestern Polytechnical University Press,1998 (in Chinese)
  • Relative Articles

    [1]MA J L,CUI Q L,MA Z P,et al. Self-adjusting graph convolution UNet method for 3D human pose estimation[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(1):63-74 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0969.
    [2]DENG C J,CHEN Q J,ZHANG T S,et al. NHC lever arm estimation algorithm for vehicle-integrated navigation systems based on dead reckoning[J]. Journal of Beijing University of Aeronautics and Astronautics,2025,51(2):668-675 (in Chinese). doi: 10.13700/j.bh.1001-5965.2023.0035.
    [3]LIU He, WEI Cheng, ZHANG Zexu, SUN Bo, HU Zihang. Spacecraft Anomaly Detection Based on Filtered Autoencoder Envelope Analysis[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0832
    [4]CAO Y,CHENG Y H,GAO B,et al. Effectiveness evaluation method for earth observation satellite attitude control system[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(5):1655-1664 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0489.
    [5]ZHAO Xiaodong, CHEN Kai, HUANG Yujie, WANG Pengfei, WANG Ziyuan. Human 3D posture detection and modeling based on variational autoencoder in multi-vision[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2024.0070
    [6]WU H L,LIU H,SUN Y C. Vision Transformer-based pilot pose estimation[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(10):3100-3110 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0811.
    [7]WANG L F,ZOU T,REN Y,et al. Fine alignment method for biaxial redundant rotating inertial navigation system[J]. Journal of Beijing University of Aeronautics and Astronautics,2024,50(11):3348-3357 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0818.
    [8]WANG L N,LIU Z B,YUAN J B,et al. Adaptive fault diagnosis and estimation for quadrotor UAV[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(9):2395-2405 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0656.
    [9]MA Y F,DAI S W,WANG R,et al. Nonlinear spatial K-means clustering algorithm for detection of zero-speed interval in inertial pedestrian navigation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(10):2841-2850 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0764.
    [10]LI J,WANG L X,LI W H. MEMS gyro scope noise reduction method based on model decomposition multi-scale entropy[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(10):2835-2840 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0745.
    [11]LIU F,WANG Z,DAI Y Y,et al. A robust adaptive filtering algorithm based on predicted residuals in integrated navigation[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(6):1301-1310 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0460.
    [12]PAN J X,JING B,JIAO X X,et al. Degradation modeling of oxygen concentrator in multiple stress coupling[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(2):472-481 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0260.
    [13]LI C,SHEN Q,WANG L X,et al. Pseudo loosely-integrated navigation of low-cost MEMS-INS/GPS with insufficient observable satellites[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(4):869-878 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0131.
    [14]SUN X T,CHENG W,CHEN W J,et al. A visual detection and grasping method based on deep learning[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(10):2635-2644 (in Chinese). doi: 10.13700/j.bh.1001-5965.2022.0130.
    [15]JIANG D N,BA Y J,LI W. Sensor fault detection and data reconstruction method of power supply vehicle[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(7):1583-1592 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0501.
    [16]CHEN H Z,SUN R,QIU M,et al. An adaptive noise variance based fault detection algorithm for GNSS positioning[J]. Journal of Beijing University of Aeronautics and Astronautics,2023,49(2):406-421 (in Chinese). doi: 10.13700/j.bh.1001-5965.2021.0222.
    [17]WU Lan, WU Yuanming, KONG Fanshi, LI Binquan. Traffic signal timing method based on deep reinforcement learning and extended Kalman filter[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(8): 1353-1363. doi: 10.13700/j.bh.1001-5965.2021.0529
    [18]LIU Yaosheng, LIAO Yurong, LIN Cunbao, LI Zhaoming, YANG Xinyan. Feature-fusion and anti-occlusion based target tracking method for satellite videos[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(12): 2537-2547. doi: 10.13700/j.bh.1001-5965.2021.0150
    [19]SHU Hong-bin, YU Chuan-qiang, LIU Zhi-hao, TANG Sheng-jin, CHEN Jian-wei. State estimation of multi-axle special vehicles by fusion of neural network and unscented Kalman filter[J]. Journal of Beijing University of Aeronautics and Astronautics. doi: 10.13700/j.bh.1001-5965.2022.0535
    [20]DAI Hongde, ZHANG Xiaoyu, ZHENG Baidong, DAI Shaowu, ZHENG Weiwei. Inertial pedestrian navigation algorithm based on zero velocity update and attitude self-observation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(7): 1135-1144. doi: 10.13700/j.bh.1001-5965.2021.0037
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(2820) PDF downloads(1153) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return