IMU ATTITUDE CALCULATION METHOD BASED ON GRADIENT DESCENT ALGORITHM
IMU ATTITUDE CALCULATION METHOD BASED ON GRADIENT DESCENT ALGORITHM
- Author(s): W. Qi 1 and N. Liu 1
- DOI: 10.1049/icp.2021.1315
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- Author(s): W. Qi 1 and N. Liu 1
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View affiliations
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Affiliations:
1:
Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technological University , Beijing , China
Source:
The 8th International Symposium on Test Automation & Instrumentation (ISTAI 2020),
2021
p.
16 – 20
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Affiliations:
1:
Beijing Key Laboratory of High Dynamic Navigation Technology, Beijing Information Science and Technological University , Beijing , China
- Conference: The 8th International Symposium on Test Automation & Instrumentation (ISTAI 2020)
- DOI: 10.1049/icp.2021.1315
- ISBN: 978-1-83953-506-2
- Location: Online Conference
- Conference date: 28-29 November 2020
- Format: PDF
In view of the problem that the combination of gyroscope and accelerometer is used to obtain the carrier attitude information in the traditional attitude solving method, an attitude solving method of inertial measurement unit based on gradient descentalgorithm is proposed.This method uses a quaternion-based gradient descent algorithm to fuse sensor data, and obtains the attitude angle information of the carrier movement. The three-dimensional flight simulation system is used to collect experimental data and verify the stability and effectiveness of the algorithm. Compared with the traditional attitude calculation method, it is verified that this method has the characteristics of fast convergence.
Inspec keywords: attitude measurement; inertial navigation; attitude control; gyroscopes; sensor fusion; aerospace simulation; inertial systems; gradient methods; accelerometers
Subjects: Interpolation and function approximation (numerical analysis); Spatial variables measurement; Sensing devices and transducers; Spatial variables control; Aerospace control; Interpolation and function approximation (numerical analysis)