科技导报 >

2014 , Vol. 32 >Issue 19: 31 - 35

DOI: https://doi.org/10.3981/j.issn.1000-7857.2014.19.004

研究论文

基于多传感器数据融合的四旋翼飞行器的姿态解算

  • 万晓凤 ,
  • 康利平 ,
  • 余运俊 ,
  • 林伟财
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  • 南昌大学电气与自动化工程系, 南昌 330031
万晓凤，教授，研究方向为计算机控制与嵌入式智能仪表，电子信箱：xfwan_jx@163.com；余运俊（共同第一作者），博士，研究方向为智能控制，电子信箱：yuyunjun@ncu.edu.cn

收稿日期: 2014-03-12

  修回日期: 2014-05-05

  网络出版日期: 2014-07-16

基金资助

国家国际科技合作专项（2014DFG72240）；江西科技支撑计划项目（2013BBE50102，20132BBE50049）

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A Four-rotor Aircraft Attitude Solver Based on Multi-sensor Data Fusion

  • WAN Xiaofeng ,
  • KANG Liping ,
  • YU Yunjun ,
  • LIN Weicai
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  • Electrical and Automation Engineering Department, Nanchang University, Nanchang 330031, China

Received date: 2014-03-12

  Revised date: 2014-05-05

  Online published: 2014-07-16

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摘要

用于农田信息采集的四旋翼飞行器姿态解算过程中，存在姿态角测量不够准确这一难题。选择基于加速度计、电子罗盘与陀螺仪的捷联式惯性测量系统，采用卡尔曼滤波算法，通过融合多个传感器的测量数据，解算出高精度的姿态角。为验证卡尔曼滤波算法的有效性和实用性，搭建了四旋翼飞行器姿态检测实验平台。结果表明，经卡尔曼滤波算法处理之后的姿态角动态响应好，解算精度高，其最大跟踪误差控制在±1.5°以内，消除了由加速度计或电子罗盘带来的测量白噪声，也有效抑制了陀螺仪的温度漂移，满足四旋翼飞行器对姿态解算精度的要求。

关键词： 四旋翼飞行器; 姿态解算; 卡尔曼滤波; 数据融合

本文引用格式

万晓凤 , 康利平 , 余运俊 , 林伟财 . 基于多传感器数据融合的四旋翼飞行器的姿态解算[J]. 科技导报, 2014 , 32(19) : 31 -35 . DOI: 10.3981/j.issn.1000-7857.2014.19.004

Abstract

The attitude angle measurement is not accurate in the process of four-rotor aircraft attitude solving for the field information collection. To deal with this problem, we choose the inertial measurement system based on accelerometer, electronic compass and gyro, and combine the plurality of sensor measurement by a Kalman filter algorithm to get the precision attitude angle. We set up an actual four-rotor attitude detection platform to verify the effectiveness and practicality of the Kalman filter algorithm. The results show that the dynamic response and the precision of the attitude angle are better and the maximum tracking error can be controlled within ±1.5°. The application of the Kalman filter algorithm in attitude solver can not only eliminate the white noise caused by the accelerometer and electronic compass but also inhibit the temperature drift of the gyro effectively. The attitude angle can meet the accuracy requirement of the attitude solution of the four-rotor.

Key words： four-rotor aircraft; attitude solver; Kalman filter algorithm; data fusion

参考文献

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