Method and apparatus for yaw fusion and aircraft

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 11669109
APP PUB NO 20220214699A1
SERIAL NO

17651835

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ATTORNEY / AGENT: (SPONSORED)

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Abstract

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Embodiments of the present application relate to the technical field of aircrafts and disclose a method and apparatus for yaw fusion and an aircraft. The method for yaw fusion is applicable to an aircraft and includes: acquiring global positioning system (GPS) data, inertial measurement unit (IMU) data, and magnetometer data, wherein the GPS data includes GPS location, velocity, acceleration information, and GPS velocity signal quality, and the IMU data includes IMU acceleration information and IMU angular velocity information; determining a corrected yaw according to the IMU data, the GPS data, and the magnetometer data; determining a magnetometer alignment deviation angle according to the magnetometer data, the GPS data, and the corrected yaw; determining a GPS realignment deviation angle according to the GPS data and the IMU acceleration information; and generating a fused yaw according to the corrected yaw, the magnetometer alignment deviation angle, and the GPS realignment deviation angle.

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Patent Owner(s)

Patent OwnerAddress
AUTEL ROBOTICS CO LTDSHENZHEN GUANGDONG 518055

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Li, Yingjie Guangdong, CN 151 1095
Zhang, Tianbao Guangdong, CN 19 2

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