计算机应用与软件2023，Vol.40Issue(12)：79-85,7.DOI:10.3969/j.issn.1000-386x.2023.12.012
基于模糊卡尔曼滤波的四旋翼姿态估计方法
A QUADROTOR ATTITUDE ESTIMATION METHOD BASED ON FUZZY KALMAN FILTER
摘要
Abstract
Aimed at the attitude estimation error caused by the acceleration and magnetic disturbance of quadrotor in flight,a fuzzy extended Kalman filter attitude estimation algorithm based on dynamic estimation is proposed.The sensor data were used to estimate the motion frequency,acceleration and magnetic field interference.After the fuzzy inference of the estimated values,the Kalman filter was used to adjust the measurement noise variance and gradient step size to increase the dynamic adaptability of the attitude estimation algorithm.In order to verify the estimation effect of the designed algorithm,a quadrotor simulation model was used to verify the estimation effect.The results show that the algorithm can effectively improve the attitude tracking accuracy,dynamic performance and anti-jamming ability of quadrotor attitude estimation under high maneuvering and strong interference.关键词
四旋翼/姿态估计/模糊推理/扩展卡尔曼滤波/动态估计Key words
Quadrotor/Attitude estimation/Fuzzy inference/Extended Kalman filter/Dynamic estimation分类
信息技术与安全科学引用本文复制引用
蒋宗池,佃松宜,郭斌,任江涛..基于模糊卡尔曼滤波的四旋翼姿态估计方法[J].计算机应用与软件,2023,40(12):79-85,7.基金项目
国家重点研发计划项目(2018YFB1307401). （2018YFB1307401）
