传感技术学报2016，Vol.29Issue(11)：1684-1691,8.DOI:10.3969/j.issn.1004-1699.2016.11.010
基于加速度信息修正的四旋翼位置估计算法研究
Quadrotor Position Estimation Algorithm Research Based on the Acceleration Correction
摘要
Abstract
Single sensor couldn't provide accurate position estimation for the quadrotor. To solve this problem ,a complementary filter based on multisensory data fusion is proposed to precisely estimate the position of the quadro⁃tor. The key point of this algorithm is to correct acceleration measurement with a class of auxiliary sensors such as the barometer,GPS and the micro base station. The complementary filter is validated by experiments on a quadrotor control platform. The result shows that,with this complementary filter,the speed estimation and the position estima⁃tion of the quadrotor is able to converge without steady error. Finally,outdoor flight test is carried out to prove that, with the position and speed estimation provided by the complementary filter,the quadrotor is capable of navigating through user-defined way-points.关键词
多元信息融合/位置估计/互补滤波/加速度传感器/气压传感器/GPSKey words
multisensory data fusion/position estimation/complementary filter/accelerometer/barometer/GPS分类
信息技术与安全科学引用本文复制引用
方家豪,叶欣,董伟,盛鑫军,朱向阳..基于加速度信息修正的四旋翼位置估计算法研究[J].传感技术学报,2016,29(11):1684-1691,8.基金项目
上海张江国家自主创新示范区专项发展资金重点项目 （）
