基于信息融合的八旋翼飞行器状态解算

针对四旋翼飞行器欠驱动控制和有效负载能力不足的特性，提出了八旋翼飞行器作为解决方案。分析八旋翼飞行器的动力学模型，建立其运动状态方程，采用无迹卡尔曼滤波算法实现飞行器姿态检测系统的数据融合。通过理论分析和Matlab仿真试验表明：采用状态估计融合滤波算法，有效提高了八旋翼飞行器姿态解算精度，可以获得最优姿态角度，满足八旋翼飞行器稳定的要求。

Attitude Estimation of Octorotor Aircraft Based on Information Fusion

In view of redundancy and load limitation of four rotor aircraft , the design of rotor aircraft was put forward A dynamic model of eight rotor aircraft was analyzed , its movement equation of state was established;UKF was designed to implement the aircraft attitude algo-rithm;Design of Kalman filter realized calculating speed and height of the aircraft .Theoretical analysis and simulation experiments show that the Kalman filtering algorithm can satisfy data calculation accuracy and convergence speed , meeting the requirements of vehicle stability .