摘要
针对低成本惯性测量系统的精度容易受引擎震动、陀螺仪漂移的影响,提出了一种适用于活塞引擎的小型UAV姿态测量方法;此方法整合陀螺仪与单天线GPS进行姿态测量,采用以四元数为基础的扩展卡尔曼滤波(EKF)来进行传感器信息融合;利用陀螺仪测得的角速度更新四元数,使用GPS信息所计算的伪姿态来更新滤波器的测量值;仿真结果表明所提出的方法即使在陀螺仪漂移和伪姿态包含噪声的情况下,也拥有较好的长期和短期精度,提升了姿态测量的精度与可靠度。
The accuracy of the low--cost inertial measurement unit was influenced by vibration and the drift of the gyroscope. An atti- tude estimation method is presented to promote the accuracy for small unmanned aerial vehicles （UAV） powered by a piston engine. This method that fuses the gyroscopes and single antenna global positioning system （GPS） is proposed to mitigate the influence of engine vibration and gyroscope drift. The quaternion--based extended Kalman filter is implemented to fuse the sensors. This filter fuses the angular rates measured by the gyroscopes and the pseudo--attitude derived from the GPS velocity to estimate the attitude of the UAV. Simulations results indicate that the proposed method performs well both in short--term and long--term accuracy even though the gyroscopes are affected by drift and vibration noise and the pseudo--attitude contains severe noise, and then enhance the accuracy of the attitude estimation.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第4期903-906,共4页
Computer Measurement &Control
基金
湖南省科技重大专项(2009FJ1012)
