基于自适应互补滤波的四旋翼飞行器姿态解算OACSTPCD
Attitude Algorithm of Quadrotor Based on Adaptive Complementary Filtering
在四旋翼无人机中,姿态传感器采用捷联式惯导惯性检测单元(IMU),其中包括加速度计、陀螺仪、电子罗盘和空气压力高度计.这些传感器在工作过程中存在温度漂移以及噪声干扰,为了得到准确的姿态数据,首先建立了传感器四元数模型,在频域中设计互补滤波器,并设计了PI自适应补偿系数,对传感器数据进行融合、补偿和修正,有效地避免了系统模型误差对姿态估计的影响.修正后的角速度通过一阶龙格-库塔法、四元数算法完成飞行器的姿态解算.传统互补滤波器在噪声大时滤波效果不理…查看全部>>
The strapdown inertial navigation inertial measurement unit (IMU) is used as attitude sensor in quadrotor,which includes accelerometer,gyroscope,electronic compass and barometer.These sensors have temperature drift and noise disturbance during operation.In order to obtain accurate attitude data,a quaternion model of the sensor was established firstly,and a complementary filter and PI adaptive compensation factors were designed in frequency domain,and the sen…查看全部>>
陈华胄;谌海云
西南石油大学电气信息学院,四川成都610500西南石油大学电气信息学院,四川成都610500
信息技术与安全科学
四旋翼飞行器互补滤波姿态解算四元数
quadrotorcomplementary filteringattitude algorithmquaternion
《测控技术》 2018 (6)
81-84,89,5
南充市市校科技战略合作项目(NC17SY4011)
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