基于加速度信息修正的四旋翼位置估计算法研究

针对单一的微传感器无法准确进行四旋翼无人机空间定位的问题，设计了一种多元信息融合的互补滤波算法用于无人机空间位置估计。该算法的核心思想为利用一类通用的辅助传感器如气压传感器，全球定位系统（GPS）以及微基站的测量信息对加速度传感器的测量信息进行实时修正，然后利用修正后的加速度信息积分估计四旋翼无人机的空间位置。本文在自主研制的飞行控制平台上验证了这种互补滤波算法的有效性。通过对比实验验证，利用本文设计的互补滤波算法可以使得无人机运动速度估计值以及空间位置估计值无偏差的收敛。飞行实验证明，将该互补滤波算法输出的速度以及位置估计信息应用于位置控制器中，可以实现无人机稳定的位置控制。

Quadrotor Position Estimation Algorithm Research based on the Acceleration Correction

Single sensor couldn't provide accurate position estimation for the quadrotor. To solve this problem ,a complementary filter based on multisensory data fusion is proposed to precisely estimate the position of the quadro?tor. The key point of this algorithm is to correct acceleration measurement with a class of auxiliary sensors such as the barometer,GPS and the micro base station. The complementary filter is validated by experiments on a quadrotor control platform. The result shows that,with this complementary filter,the speed estimation and the position estima?tion of the quadrotor is able to converge without steady error. Finally,outdoor flight test is carried out to prove that, with the position and speed estimation provided by the complementary filter,the quadrotor is capable of navigating through user-defined way-points.