信阳师范大学学报（自然科学版）2025，Vol.38Issue(4)：428-436,9.DOI:10.3969/j.issn.2097-583X.2025.04.008
基于四元数SRCKF-SLAM算法的植保无人机姿态估计
Attitude estimation for plant protect UAV based on quaternion SRCKF-SLAM algorithm
摘要
Abstract
The traditional quaternion served as the description parameter of the nonlinear state model of the UAV,and the accuracy of the attitude estimation was presented.A square-root cubature Kalman filter algorithm based on quaternion was proposed.The algorithm took the attitude quaternion error and the gyro drift error as the state quantities,and measured the attitude quaternion of SINS/SLAM navigation.The square root cubature Kalman filter algorithm was used for pose estimation,which not only can solve the normalization issue of traditional quaternion,but also can reduce the state dimension and computational complexity of the square-root UKF algorithm of traditional quaternion and improve the numerical stability.Compared with the quaternion-based SRUKF and quaternion SRCDKF algorithm,the simulation results showed that the new algorithm estimated the error mean values of the roll angle,pitch angle and yaw angle,which were 2″,3″,1″,respectively.The errors were the smallest,and algorithm's accuracy was about 30%higher than that of the quaternion SRUKF-SLAM algorithm,and it exhibited high filtering accuracy and numerical stability and the lowest computational cost.关键词
四元数/状态模型/平方根容积卡尔曼滤波/姿态估计/数值稳定性Key words
quaternion/state model/square root cubature Kalman filter/attitude estimation/numerical stability分类
交通工程引用本文复制引用
王丹丹,祝朝坤,冀晓群,谭开拓,余亮..基于四元数SRCKF-SLAM算法的植保无人机姿态估计[J].信阳师范大学学报（自然科学版）,2025,38(4):428-436,9.基金项目
国家自然科学基金项目(61201409) （61201409）
安徽省教育厅高校科研重点项目(2023AH051547,2023AH051559) （2023AH051547,2023AH051559）
安徽省中青年优秀教师培育项目(YQYB2023031) （YQYB2023031）
河南省高等学校重点科研项目(21A590001) （21A590001）
淮南市科技局指导性科技计划项目(126) （126）
校培育基金重点项目(YPY2020001) （YPY2020001）
校级质量工程课程思政示范课程(2023hskc06) （2023hskc06）
安徽省质量工程项目(2023jyxm0796) （2023jyxm0796）
