兵工自动化2011，Vol.30Issue(1)：73-74,80,3.DOI:10.3969/j.issn.1006-1576.2011.01.022
卡尔曼滤波在四旋翼飞行器姿态测量中的应用
Application of Kalman Filter in Attitude Measurement for Four-Rotor Aircraft Flight
摘要
Abstract
Introduce a new algorithm used in a four-rotor aircraft flight attitude measurement system, according to the shortage of simple average filter. On the basis of traditional method of accessing data use acceleration sensors, the fusion with acceleration sensor data and gyroscopes data by Kalman filter, testing in inertial measurement unit with MCU. The results show that the method can avoid dynamic noise of acceleration sensor, and improve the accuracy of attitude measurement of quadrotor helicopter.关键词
卡尔曼滤波/四旋翼飞行器/姿态测量Key words
Kalman filter/ quadrotor helicopter/ attitude measurement分类
信息技术与安全科学引用本文复制引用
王帅,魏国..卡尔曼滤波在四旋翼飞行器姿态测量中的应用[J].兵工自动化,2011,30(1):73-74,80,3.基金项目
国家大学生科技创新性实验计划项目"用于危险区域物品清理的四旋翼飞行抓捕手"(091021326) （091021326）
