摘要
为解决四旋翼飞行器飞行控制中的稳定性问题,尤其是姿态解算精确性问题,提出改进EKF算法。该算法采用两个EKF并行地对四旋翼飞行器的姿态数据进行处理,将改进的EKF输出的状态变量和协方差加权后整合为飞行器的输出状态和协方差对飞行器姿态进行实时解算。该算法有效地克服了非高斯白噪声对飞行器姿态解算的影响,减小了姿态数据的滤波偏差。仿真表明,该算法较之普通EKF算法的滤波效果更好,改进EKF的均方误差较之普通EKF降低了43.8%,提高了系统的鲁棒性。最后搭建以NI my RIO为核心控制器的四旋翼飞行器,验证改进EKF算法在四旋翼飞行器系统上的正确性和有效性,且该算法亦能满足飞行器实时控制的需求。
In order to solve the stability problem in flight control of four-rotor aircraft, especially the accuracy of attitude calculation. An improved EKF algorithm is proposed, the attitude data of the four-rotor are processed with two EKFs. And the state variables and the covariance are weighted and combined into the output state and covariance of the four-rotor to solve the attitude of the four-rotor in real time. The algorithm effectively overcomes the influence of non - Gaussian white noise on aircraft attitude calculation and reduces the filtering deviation of the attitude data. The simulation results show that the algorithm is better than the normal EKF algorithm, compared with normal EKF,the mean square error of improved EKF is reduced by 43.8%. The algorithm can effectively improve the robustness of the system. In the final test, the experiment is carried out on the four-rotor with NI myRIO as a core controller, and the correctness and validity of the improved EKF algorithm on the four- rotor system are verified, the algorithm can also satisfy the demand of real-time control.
出处
《电子技术应用》
北大核心
2017年第10期83-85,93,共4页
Application of Electronic Technique
