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METHOD FOR UPDATING ALL ATTITUDE ANGLES OF AGRICULTURAL MACHINE ON THE BASIS OF NINE-AXIS MEMS SENSOR
METHOD FOR UPDATING ALL ATTITUDE ANGLES OF AGRICULTURAL MACHINE ON THE BASIS OF NINE-AXIS MEMS SENSOR
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机译：基于九轴MEMS传感器的农业机械所有姿态角的更新方法
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摘要
A method for updating all attitude angles of an agricultural machine on the basis of a nine-axis MEMS sensor, comprising the following steps: establishing a gyroscope error model, an electronic compass calibrating ellipse model, and a seven-dimensional EKF filtering model, and setting corresponding parameter vectors for vehicle motion attitudes (S1); obtaining acceleration data, angular velocity data, and Earth's magnetic field strength data of a vehicle motion in real time (S2); computing the angle, the velocity, the location information, and the steering angle of the vehicle by means of the established gyroscope error model and electronic compass calibrating ellipse model (S3); performing data fusing processing on the angle, the velocity, the location information, and the steering angle of the vehicle by means of the seven-dimensional EKF filtering model, and updating motion attitude angles of the vehicle in real time (S4). Said steps of the method achieve a small error and high precision, and therefore are stable and reliable.
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