| EKF和互补滤波器在飞行姿态确定中的应用 |
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| 引用本文： | 郭晓鸿,杨忠,陈喆,杨成顺,龚华军.EKF和互补滤波器在飞行姿态确定中的应用[J].传感器与微系统,2011,30(11). |
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| 作者姓名： | 郭晓鸿 杨忠 陈喆 杨成顺 龚华军 |
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| 作者单位： | 1. 南京航空航天大学自动化学院,江苏南京,210016
2. 南京航空航天大学无人机研究院,江苏南京,210016 |
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| 基金项目： | 国家自然科学基金资助项目(60674100); 2009江苏省高校优秀科技创新团队项目 |
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| 摘 要： | 设计了一种旋翼飞行姿态参考系统,采用基于加速度计和陀螺仪的惯性测量组合(IMU)测量飞行姿态数据。采集实测数据并运用Allan方差分析法分析其噪声特性,建立传感器模型;针对旋翼飞行器分别应用经典扩展Kalman滤波(EKF)算法和互补滤波算法进行姿态解算。在详细阐述2种算法的原理与实现的基础上,进行飞行器平台实验验证。研究结果表明2种算法均有效,且互补滤波器相对经典Kal-man滤波器更为简单、有效。
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| 关 键 词： | 姿态测量 扩展Kalman滤波器 互补滤波器 Allan方差 |
Application of extended Kalman filter and complementary filter in attitude estimation |
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| GUO Xiao-hong,YANG Zhong,CHEN Zhe,YANG Cheng-shun,GONG Hua-jun.Application of extended Kalman filter and complementary filter in attitude estimation[J].Transducer and Microsystem Technology,2011,30(11). |
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| Authors: | GUO Xiao-hong YANG Zhong CHEN Zhe YANG Cheng-shun GONG Hua-jun |
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| Affiliation: | GUO Xiao-hong1,YANG Zhong1,CHEN Zhe2,YANG Cheng-shun1,GONG Hua-jun1(1.School of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China,2.UAV Research Institute,China) |
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| Abstract: | An attitude estimation system for the unmanned helicopter is presented.The system is based on an inertial measurement unit(IMU).By using Allan variance analysis method,the inertial sensor's models are built up.The extended Kalman filtering(EKF) algorithm and the complementary filtering algorithm are drawn into flight attitude determination for a helicopter.The methodologies and implementation of the two algorithms are well elaborated.The experimental tests have verified that both Kalman filtering and comple... |
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| Keywords: | attitude estimation extended Kalman filter(EKF) complementary filter Allan variance |
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