测试技术学报Issue(3)：194-198,5.DOI:10.3969/j.issn.1671-7449.2014.03.002
基于无迹卡尔曼滤波的四旋翼无人飞行器姿态估计算法
Attitude Estimation Algorithm of Four Rotor Unmanned Aircraft Based on Unscented Kalman Filter
朱岩 1付巍2
作者信息
- 1. 北京长城计量测试技术研究所，北京100095
- 2. 中北大学计算机与控制工程学院，山西太原030051
- 折叠
摘要
Abstract
In order to resolve the problem of attitude estimation for four rotor unmanned aircraft ,unscented kalman filter (UKF) attitude estimation algorithm was proposed .Firstly ,Euler method was employed to de-scribe the aircraft attitude solution model ,and based on the solution model ,the aircraft system state equation and observation equation were established .Secondly ,UKF was used to obtain the attitude angles .The theory analysis and simulation results show that ,compared with the spacecraft attitude angle information obtained by extended Kalman filter algorithm ,although calculation time of UKF is slightly longer than that of extended kalman filter (EKF) ,the calculation accuracy and convergence rate of UKF is significantly higher than that of EK F .关键词
四旋翼无人飞行器/姿态估计/无迹卡尔曼滤波Key words
four rotor unmanned aircraft/attitude estimation/unscented kalman filter分类
信息技术与安全科学引用本文复制引用
朱岩,付巍..基于无迹卡尔曼滤波的四旋翼无人飞行器姿态估计算法[J].测试技术学报,2014,(3):194-198,5.
