测控技术2018，Vol.37Issue(2)：47-50,4.
小型无人机姿态解算方法研究
Research on Attitude Calculation of Small UAVs
摘要
Abstract
Attitude calculation is a key subject of flight control technology.By analyzing the data of different attitude sensors,the noise signal characteristics of accelerometers,magnetometers and gyroscopes were found out.By comparing the functions of different filters,a data fusion algorithm of attitude estimation was proposed based on pre-Kalman filter and complementary filter,which could improve the performance of the two filters and had both of their advantages.The experimental results showed the code operation cycle was by 0.253 ms longer than that of the modified complementary filtering fusion algorithm,and by 0.246 ms less than the Kalman filter fusion algorithm based on variance weighted sliding,but the attitude data update time is about 1 ms earlier.Furthermore under the drones hover the calculation error ranges of both pitch angle and roll angle were within ± 0.2°,that range of yaw angle was within ± 0.6°.This attitude calculation method provides more accurate feedback data for flight attitude control and has better real-time performance than other methods.关键词
卡尔曼滤波/互补滤波/姿态解算/无人机Key words
Kalman filtering/complementary filtering/attitude calculation/UAV分类
航空航天引用本文复制引用
张春友,龙长江,吴伟,严炜..小型无人机姿态解算方法研究[J].测控技术,2018,37(2):47-50,4.基金项目
中央高校基本科研业务费专项基金资助项目(2014JC001) （2014JC001）
