信息与控制2017，Vol.46Issue(2)：136-143,8.DOI:10.13976/j.cnki.xk.2017.0136
运动加速度抑制的动态步长梯度下降姿态解算算法
Attitude Estimation Algorithm of Motion Acceleration Restrained with Dynamic Step Gradient Descent
摘要
Abstract
To improve the performance of a quadrotor′s attitude estimation under strong maneuverability and high-speed motion,we propose an attitude estimation of motion acceleration restrained with dynamic step gradient descent algorithm.This algorithm restrains motion acceleration under strong maneuverability to remove the adverse effect of motion acceleration to improve the tracking accuracy of the quadrotor′s attitude estimation.The algorithm uses dynamic gradient step processing under high-speed movement to make the gradient step proportional to the quadrotor′s angle velocity and enhance the dynamic performance of orientation determination.To verify the feasibility and the effectiveness of the proposed algorithm,a quadrotor experimental platform is set up based on the STM32 microcontroller.Real-time online experimental results show that the proposed algorithm has higher estimation accuracy,better dynamic performance,and anti-interference characteristics under strong maneuverability and high-speed motion.Overall,the proposed algorithm ensures the stability of a quadrotor′s flight.关键词
四旋翼飞行器/姿态解算/运动加速度抑制/动态步长/梯度下降法Key words
quadrotor/attitude estimation/motion acceleration restrain/dynamic step/gradient descent algorithm分类
信息技术与安全科学引用本文复制引用
章政,王龙,曾聪..运动加速度抑制的动态步长梯度下降姿态解算算法[J].信息与控制,2017,46(2):136-143,8.基金项目
冶金自动化与检测技术教育部工程研究中心开放基金资助项目(MADT201603) （MADT201603）
武汉科技大学研究生创新基金资助项目(JCX2015020) （JCX2015020）
