The invention provides an implementation method of a vehicle-mounted six-axis gyroscope. The implementation method comprises a gyroscope data initialization and zero offset calibration step; a data processing step; a six-axis data fusion and attitude estimation step: using a Kalman filtering algorithm to receive the three-axis acceleration value and the three-axis angular velocity value provided by the data processing step as input, and continuously updating and optimizing state estimation of the system by combining prediction based on a known motion model and observation based on a sensor measurement value; fusing the filtered acceleration and angular velocity data through a six-axis fusion algorithm, and calculating attitude information of the object by adopting a quaternion representation method; after the attitude information represented by the quaternion is obtained, a three-axis Euler angle is further solved, and attitude data is provided for attitude monitoring of the vehicle and an intelligent driving system; and a serial port data output step. The invention aims to improve the navigation precision and reliability, improve the safety of vehicle driving, accurately judge the vehicle state and update the vehicle body posture and the driving condition in real time.

    本发明提供一种车载六轴陀螺仪的实现方法,其包括陀螺仪数据初始化与零偏校准步骤:数据处理步骤;六轴数据融合与姿态估算步骤:应用卡尔曼滤波算法接收数据处理步骤提供的三轴加速度值和三轴角速度值作为输入,通过结合基于已知运动模型的预测和基于传感器测量值的观测,不断更新并优化系统的状态估计;将滤波后的加速度和角速度数据通过六轴融合算法进行融合,并采用四元数表示法来计算物体的姿态信息;在得到四元数表示的姿态信息后,进一步解算出三轴欧拉角,为车辆的姿态监测和智能驾驶系统提供姿态数据;串口数据输出步骤。本发明旨在提高导航精度和可靠性,提升车辆行驶的安全性,精准判断车辆状态,并实时更新车身姿态和行驶状况。


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    Title :

    Implementation method of vehicle-mounted six-axis gyroscope


    Additional title:

    一种车载六轴陀螺仪的实现方法


    Contributors:
    JIANG DENGKE (author) / XIE DONGHANG (author) / GU WENJIE (author) / DUAN RUIQI (author)

    Publication date :

    2025-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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