阅读说明：本技术 航向角的融合方法和设备 (Course angle fusion method and device ) 是由 霍盈盈 于 2019-03-22 设计创作，主要内容包括：本发明提供一种航向角的融合方法和设备。该方法包括：判断是否能够采集到可移动平台的三轴磁数据；根据判断结果,确定所述可移动平台的航向角,所述航向角包括磁航向角或全球定位系统GPS航向角；对所述航向角进行融合,得到所述可移动平台的航向角信息。本发明结合磁航向角或者GPS航向角进行航向融合,融合结果受数据失真度影响小,因此得到的航向角信息准确度高。(The invention provides a course angle fusion method and device. The method comprises the following steps: judging whether triaxial magnetic data of the movable platform can be acquired or not; determining a course angle of the movable platform according to a judgment result, wherein the course angle comprises a magnetic course angle or a Global Positioning System (GPS) course angle; and fusing the course angle to obtain course angle information of the movable platform. The invention combines the magnetic course angle or the GPS course angle to carry out course fusion, and the fusion result is slightly influenced by the data distortion degree, so the accuracy of the obtained course angle information is high.)

1. A course angle fusion method is characterized by comprising the following steps:

judging whether triaxial magnetic data of the movable platform can be acquired or not;

determining a course angle of the movable platform according to a judgment result, wherein the course angle comprises a magnetic course angle or a Global Positioning System (GPS) course angle;

and fusing the course angle to obtain course angle information of the movable platform.

2. The method of claim 1, wherein determining the heading angle of the movable platform based on the determination comprises:

and if the three-axis magnetic data can be acquired and the distance between the movable platform and the ground is less than a first preset value or the attitude angle of the movable platform is greater than or equal to a second preset value, determining the magnetic heading angle as the heading angle of the movable platform.

3. The method of claim 1, wherein determining the heading angle of the movable platform based on the determination comprises:

and if the three-axis magnetic data is not acquired, determining a Global Positioning System (GPS) course angle as the course angle of the movable platform.

4. The method according to any one of claims 1-3, wherein the fusing the course angle to obtain the course angle information of the movable platform comprises:

establishing an observation equation of the course angle;

determining an observation matrix of the course angle according to the observation equation;

and fusing the course angle according to the observation matrix to obtain the course angle information.

5. The method of claim 4, wherein said fusing the heading angles according to the observation matrix comprises:

acquiring measurement noise of the course angle;

calculating the gain of the course angle according to the observation matrix and the measurement noise;

and fusing the course angle according to the gain.

6. The method of claim 5, wherein prior to fusing the heading angle according to the gain, the method further comprises:

calculating the variance corresponding to the course angle according to the observation matrix and the measurement noise;

determining whether the variance is greater than or equal to the measurement noise;

and fusing the course angle according to the gain, wherein the fusion comprises the following steps:

and fusing the course angle according to the gain when the variance is judged to be larger than or equal to the measurement noise.

7. The method of claim 6, wherein after fusing the heading angle according to the gain, the method further comprises:

and updating the variance corresponding to the course angle according to the gain and the observation matrix.

8. A course angle fusion device is characterized by comprising:

the judging module is used for judging whether the three-axis magnetic data of the movable platform can be acquired or not;

the determining module is used for determining a course angle of the movable platform according to the judgment result, wherein the course angle comprises a magnetic course angle or a Global Positioning System (GPS) course angle;

and the fusion module is used for fusing the course angle to obtain the course angle information of the movable platform.

9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 1 to 7.

10. A navigation device, comprising:

a processor; and

a memory for storing executable instructions of the processor;

wherein the processor is configured to implement the method of any of claims 1-7 via execution of the executable instructions.