Nine-axis magnetic compass attitude acquisition method based on adaptive complementary filtering

The invention discloses a nine-axis magnetic compass attitude acquisition method based on adaptive complementary filtering, which comprises the following steps of: actually calculating the real-time position of a magnetic interference target by establishing a linear function of the position of a mag...

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Bibliographic Details
Main Authors MENG CHENG, DOU KE, LYU BING, WU DONGLING, DENG CHAOFAN, CHEN ZHENGXIANG
Format Patent
LanguageChinese
English
Published 06.05.2022
Subjects
GYROSCOPIC INSTRUMENTS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
SURVEYING
TESTING
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Summary:The invention discloses a nine-axis magnetic compass attitude acquisition method based on adaptive complementary filtering, which comprises the following steps of: actually calculating the real-time position of a magnetic interference target by establishing a linear function of the position of a magnetic interference substance, the magnetic dipole moment of the magnetic interference substance and the magnetic field of the magnetic interference substance, and compensating magnetic interference. Then, a self-adaptive particle swarm optimization algorithm is adopted to find out a magnetic dipole moment enabling the variation of the relative distance between the magnetic interfering substance and the nine-axis magnetic compass carrier to be minimum, parameters of a complementary filter are solved through fuzzy control, the frequency characteristics of a three-axis accelerometer and a three-axis gyroscope are fully considered, and the problem of calculation result divergence is avoided. And then, solving an attitu
Bibliography:Application Number: CN202111637776