Science & Technology Review >

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

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

Articles

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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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

Cite this article

WAN Xiaofeng , KANG Liping , YU Yunjun , LIN Weicai . A Four-rotor Aircraft Attitude Solver Based on Multi-sensor Data Fusion[J]. Science & Technology Review, 2014 , 32(19) : 31 -35 . DOI: 10.3981/j.issn.1000-7857.2014.19.004

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