数据采集与处理2011，Vol.26Issue(2)：224-229,6.
小型无人直升机嵌入式导航系统算法与飞行试验
Algorithm and Flight Tests of Embedded Navigation System for Small Scaled Unmanned Helicopter
摘要
Abstract
The attitude heading position reference system (AHPRS) is developed using the MEMS gyroscope, accelerometer, magnetometer and GPS receiver. Firstly, the estimation attitude is obtained by the equivalent vector method of gyroscope output. Secondly, the combination of GPS, accelerometer and magnetometer output is used to estimate the observed attitude,and the error quaternion Kalman filter is derived and updated with the GPS period. Thirdly,the navigation Kalman filter is established by ignoring the small error attitude, and the order of filter is obviously decreased and the real-time property of the system is increased. Finally, the simulation and flight test indicate that the precision of the attitude estimation is improved and satisfied the requirement of the miniature air vehicles.关键词
导航/等效旋转矢量/误差四元数/姿态估计分类
航空航天引用本文复制引用
宋彦国,郭剑东..小型无人直升机嵌入式导航系统算法与飞行试验[J].数据采集与处理,2011,26(2):224-229,6.基金项目
国家自然科学基金(60705034)资助项目. （60705034）
