基于Kalman滤波算法的姿态传感器信号融合技术研究

针对应用三轴陀螺仪和三轴加速度传感器的四旋翼飞行器姿态角测量问题，提出了基于Kalman滤波算法的姿态传感器信号融合方法。该方法将陀螺仪输出的角速度误差作为时变误差处理，认为陀螺仪输出的角速度误差与其所测角速度及上一时刻的角速度输出误差相关，并据此建立陀螺仪测量线性方程，在此基础上，应用Kalman滤波算法，以加速度计输出的姿态角对陀螺仪测量的姿态角进行修正，从而达到姿态角准确测量的目的。实验结果表明：应用Kalman滤波算法对加速度传感器和陀螺仪信号融合后可有效消除姿态角测量累积误差并显著改善姿态角测量的动态特性。

Research on signal fusion technology of attitude sensor based on Kalman filtering algorithm

Aiming at measurement problem of attitude angle of the four-rotor aircraft, using three axis accelerometer and gyro, propose an attitude signal fusion method based on Kalman filtering algorithm. In this method, the angular velocity error output by gyro is processed as time variable error, and this variable error is taken to be related with angular velocity error which gyro output in last measuring time as well as with the attitude angle which will be measured. According to this, gyro linear measurement equation is established. On this basis, the attitude angle output by gyro is modified by the attitude angle output by the accelerometer using of Kalman filtering algorithm, so as to achieve accurate measurement of attitude angle. The experimental results show that, after using Kalman filtering algorithm to fuse acceleration sensor and signal gyro,it can effectively eliminate the accumulative error and significantly improve dynamic characteristics of attitude angle measurement.