互补滤波算法在四旋翼飞行器姿态解算中的应用

针对四旋翼飞行器飞行过程中的姿态最优估计问题,本着准确、快速的原则,选择了基于陀螺仪、加速度计和电子罗盘的捷联式惯性测量系统.由于这些传感器存在温度漂移和噪声干扰等问题,采用互补滤波算法,通过融合IMU多传感器的数据信号,对测得的姿态数据进行补偿修正,解算出高精度的姿态角.为了验证互补滤波算法的有效性和实用性,通过实际的四旋翼飞行器角度测量系统对互补滤波算法展开研究.结果表明姿态角解算中采用互补滤波算法能够快速、稳定的输出高精度姿态数据,姿态角最大跟踪误差控制在±2°以内,满足四旋翼飞行器飞行控制的要求,成功完成了姿态的最优估计.

Application of Complementary Filter Algorithm in Attitude Estimation Of a Quad-Rotor Aircraft

Aiming at the problem of attitude estimation met in the flight process of a quad-rotor aircraft,a strapdown inertial measurement system with gyroscope,accelerometer and electronic compass is chosen based on the principle of simple and rapid.Due to the presence of temperature drift and noise interference,using complementary filter algorithm,via the data fusion of multiple sensors,attitute data of gyroscope is compensated to calculate the high-precision attitude angle.In order to verify the validity and practicability of the complementary filter algorithm,a research on the complementary filter algorithm is conducted from the practical application respectively through the actual quad-rotor aircraft angle measurement system.The results show that the attitude angle calculation with complementary filter algorithm can output high-precision attitude data stably and quickly for a long time,the largest attitude angle tracking error is controlled within ± 2 °,which meets the requirements of flight-controlling on quad-rotor aircraft,and completes the optimal estimation of attitude successfully.