Research On Multi-Motion Carrier Cooperative Marg Attitude Estimation And Interference Compensation

Microelectronic Mechanical System(MEMS)MARG(magnetic,angular rate and gravity,MARG)sensor arrays containing accelerometers,gyroscopes and magnetometers are widely used for multi-motion carrier attitude measurements.Currently,the theory of multi-sensor data fusion is developing rapidly and numerous MARG data fusion methods have been proposed to estimate the position,velocity and attitude of a carrier.However,for multi-carrier cooperative MARG attitude estimation,problems such as motion acceleration interference,magnetic field distortion and sensor failure are still faced.Based on this,this paper addresses the problems associated with the multi-carrier collaborative MARG attitude estimation process by taking multiple motion carriers as the research object,and the main research of the paper contains the following three aspects.(1)To address the possible environmental disturbances and sensor failures in the MARG sensor attitude estimation process,an attitude estimation strategy is proposed for the presence of motion acceleration and magnetic field disturbances,and robust MARG sensor data fusion is achieved.Prior to MARG sensor data fusion,sensor anomaly detection is first performed,and motion acceleration and magnetic field disturbance detection is achieved with the aid of gyroscopes.For the carrier motion acceleration contained in the accelerometer output,the motion acceleration is estimated and compensated by means of a sliding window.According to the detection results,the corresponding filtering measurement equation is established,combined with the filtering state equation established by using the angular rate information to achieve the carrier attitude estimation.(2)For the environmental magnetic field interference in the multi-vector cooperative scenario,a multi-motion carrier cooperative magnetic field interference estimation method is proposed.Two types of solution methods are discussed:for the observation-based interference estimation,three types of cases are discussed:single carrier,multi-carrier based on magnetometer observation and multi-carrier based on mutual measurement of attitude and magnetic interference estimation,and the effects of sensor noise,carrier attitude and attitude perturbation on magnetic interference estimation are analysed;for the interference estimation with the introduction of state model,a magnetic interference variation model is established.With the help of mutual observation information between multi-motion carriers,the estimation of the ambient magnetic interference vector is achieved in the collaborative attitude estimation process.(3)For the sensor failure situation in the multi-vector cooperative scenario,a multi-motion carrier cooperative sensor information recovery method is proposed.For the respective failure cases of accelerometer,gyroscope and magnetometer,the dynamics models for the conditions are developed separately,and based on the mutual measurement information between the carriers,various cases of sensor non-normal operation are discussed,and the effects of sensor noise,carrier attitude and attitude perturbation on information recovery are analyzed.