| 基于互补滤波器的四旋翼飞行器姿态解算 |
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| 引用本文： | 梁延德,程敏,何福本,李航. 基于互补滤波器的四旋翼飞行器姿态解算[J]. 传感器与微系统, 2011, 30(11): 56-58,61 |
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| 作者姓名： | 梁延德 程敏 何福本 李航 |
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| 作者单位： | 1. 大连理工大学机械工程学院,辽宁大连,116023
2. 大连理工大学创新实验学院,辽宁大连,116023 |
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| 摘 要： | 针对小型四旋翼飞行器姿态解算这一基本问题,详细分析了姿态解算的过程,提出了其中的难点问题.应用低成本捷联惯性测量单元,设计了一种基于互补滤波器算法的姿态求解器.经过实验验证表明:与目前常用的卡尔曼滤波算法相比,采用互补滤波器算法的求解器能显著降低对处理器速度和精度的要求,有效融合了捷联惯性测量单元的传感器数据,实现了小...
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| 关 键 词： | 姿态解算 四旋翼飞行器 惯性测量单元 互补滤波器 |
Attitude estimation of a quad-rotor aircraft based on complementary filter |
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| LIANG Yan-de,CHENG Min,HE Fu-ben,LI Hang. Attitude estimation of a quad-rotor aircraft based on complementary filter[J]. Transducer and Microsystem Technology, 2011, 30(11): 56-58,61 |
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| Authors: | LIANG Yan-de CHENG Min HE Fu-ben LI Hang |
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| Affiliation: | LIANG Yan-de1,CHENG Min1,HE Fu-ben1,LI Hang2(1.School of Mechanical Engineering,Dalian University of Technology,Dalian 116023,China,2.School of Innovation Experiment,China) |
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| Abstract: | Aiming at the basic problem of attitude estimation of a small quad-rotor,a detailed analysis of the attitude estimation process is done and the difficult issues during this process are proposed.A solver used to realize attitude estimation is designed based on complementary filter algorithm,using the low-cost inertial measurement unit.Experimental results show that the solver designed based on complementary filter algorithm can significantly reduce the requirements of precision and speed for the processor,ef... |
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| Keywords: | attitude estimation quad-rotor inertial measurement unit complementary filter |
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