小型飞行器姿态估计系统设计与实现

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°。

Design and implementation of MAV attitude estimation system

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.