测控技术2017，Vol.36Issue(7)：5-8,12,5.
基于混合滤波的四轴飞行器的姿态解算
Attitude Estimation of Quad-Rotor Aircraft Based on Hybrid Filter
摘要
Abstract
In order to solve the problem of attitude angle drifting in attitude estimation of a quad-rotor aircraft,a hybrid filter algorithm based on Mahony filter and complementary filter is proposed to fuse the data collected from accelerometer,gyroscope and magnetometer.Taking advantage of vector deviation of accelerometer and magnetmetor,the integration accumulated error of gyroscope during the process of attitude estimation is modified.At last,the experimental platform of attitude estimation is established to test and verify the hybrid filter algorithm.Experimental results show that the average time required for once iteration filtering of the hybrid filter algorithm is 3.826 ms,which is shorter than that of other algorithm.The hybrid filter algorithm can modify the integration accumulated error of gyroscope effectively,reduce computational complexity and improve the accuracy of attitude estimation at the same time.关键词
四轴飞行器/姿态解算/混合滤波Key words
quad-rotor aircraft/attitude estimation/hybrid filter分类
信息技术与安全科学引用本文复制引用
罗君,刚煜,唐立军..基于混合滤波的四轴飞行器的姿态解算[J].测控技术,2017,36(7):5-8,12,5.基金项目
国家科技支撑计划课题(2014BAH28F04) （2014BAH28F04）
湖南省教育厅科学研究重点项目(15K009) （15K009）
湖南省研究生科研创新项目(110202-0113009) （110202-0113009）
