全景多模式组合导航姿态估计算法

随着导航系统研究的不断进步,其在高空侦察等诸多领域得到了广泛的应用.同时,在越来越多的情况下,导航系统的应用环境可能发生变化.而国内外对导航系统的研究,较多倾向于单一环境开展,对全景环境下算法的研究相对较少.提出一种以四旋翼飞行器为背景的姿态估计算法.算法可以根据四旋翼飞行器所处的环境与运动情况采用不同的姿态计算模式,并通过变量值与门限值的比较进行模式之间的切换.实验结果表明:该算法在四旋翼飞行器所处的环境发生变化时能够实现无缝切换,并达到较高的精度(误差1°之内),同时有很好的实时性.

Panoramic multi mode integrated navigation attitude estimation algorithm

With the progress of the research of navigation system, navigation system has been widely applied in many areas such as high altitude reconnaissance. Meanwhile, the application environment of navigation system may change, such as the change of indoor and outdoor environments. However, research at home and abroad are more inclined to single environment, and the algorithms are applicable only to a single environment. There are relatively fewer studies about panoramic environment algorithms. An four rotorcraft attitude estimation algorithm is presented. The algorithm can take different attitude calculation model according to the environment and the motion state of the four rotorcraft, and switch mode by the comparison between the variable and the threshold value. Experiments indicated that the algorithm can realize seamless switch when the environment of the four rotorcraft changes, has high accuracy, and has a good real time capability.