首页 | 本学科首页   官方微博 | 高级检索  
     

小型飞行器姿态估计系统设计与实现
引用本文:方根在,黎福海. 小型飞行器姿态估计系统设计与实现[J]. 电子测量与仪器学报, 2017, 31(3): 474-480. DOI: 10.13382/j.jemi.2017.03.022
作者姓名:方根在  黎福海
作者单位:湖南大学 电气与信息工程学院 长沙 410082
摘    要:提出了一种基于最小二乘拟合和四元数拓展卡尔曼滤波器小型无人机姿态系统估计方法。首先建立三轴磁力计的物理模型,采用最小二乘拟合算法估算磁力计的干扰向量,然后采用加速度计对磁力计进行倾斜补偿,最后采用拓展卡尔曼滤波器融合加速度计、陀螺仪和磁力计的4数据,估计飞行器三维姿态。测试结果表明,姿态系统的方位角的线性误差最大为4°,倾斜40°情况下,方位角最大误差为2.6°,静止放置时,横滚角、俯仰角和方位角最大的静止偏差分别为0.215°、0.103°和0.464°。

关 键 词:磁力计模型  最小二乘拟合  拓展卡尔曼滤波器  姿态估计

Design and implementation of MAV attitude estimation system
Fang Genzai and Li Fuhai. Design and implementation of MAV attitude estimation system[J]. Journal of Electronic Measurement and Instrument, 2017, 31(3): 474-480. DOI: 10.13382/j.jemi.2017.03.022
Authors:Fang Genzai and Li Fuhai
Affiliation:College of Electrical and Information Engineering, Hunan University, Changsha 410082, China and College of Electrical and Information Engineering, Hunan University, Changsha 410082, China
Abstract:An UAV Attitude Control System based on least squares fit and quaternion expand Kalman filter estimation scheme is proposed.Firstly, the physical model of triaxial magnetometer is established, the least squares fitting algorithm is used to estimate the disturbance vector magnetometer, and then the accelerometer is used to tilt compensation magnetometer.Finally, the 3D pose of the aircraft is estimated by expanding the Kalman filter fusion accelerometer, gyroscope and magnetometer data.The test results show that the maximum linearity error of the azimuth is 4 °, tilt angle is 40 °, the maximum azimuth error is 2.6°, and in static placement, the maximum static deviation of roll angle, pitch angle and azimuth is 0.215 °, 0.103 ° and 0.464 ° respectively.
Keywords:magnetometer model  least squares algorithm  EKF  attitude estimation
本文献已被 CNKI 万方数据 等数据库收录!
点击此处可从《电子测量与仪器学报》浏览原始摘要信息
点击此处可从《电子测量与仪器学报》下载免费的PDF全文
设为首页 | 免责声明 | 关于勤云 | 加入收藏

Copyright©北京勤云科技发展有限公司  京ICP备09084417号