摘要
针对旋翼飞行器在使用捷联惯性导航时的姿态漂移以及不同环境中飞行器稳定性差等问题,常用的姿态解算方法很难实现机体姿态的准确解算。因此提出一种有效的数据融合方案,对AHRS中加速度计、陀螺仪和磁力计输出的数据进行滤波融合。AHRS系统采用了三轴加速度计、三轴陀螺仪与三轴磁力计为一体的高性能惯性测量单元ADIS16405,用四元数的方法来描述飞行器运动的姿态。为了减轻AHRS的负担提高系统实时性和准确性,数据融合采用运算量较小的最速下降法和改进型二阶互补滤波相结合的方法。实验结果表明,上述系统较好地解决了振动干扰与姿态优化问题,实现了长时间输出稳定的姿态数据。
In order to solve the problem of the attitude drift of the rotorcraft using strapdown inertial navigation and the poor stability of the aircraft in different environments, it is difficult to achieve accurate solution of aircraft attitude. Therefore, an effective data fusion scheme is proposed to filter and integrate the output data of accelerometer, gyroscope and magnetometer in AHRS. The AHRS system uses ADI＇s three - axis accelerometer, three - axis gyro- scope and three - axis magnetometer in one high - performance inertial measurement unit ADIS16405. Quaternion method is used to describe the posture of the aircraft movement. In order to reduce the burden of AHRS and improve the system＇s real - time and accuracy, a combination of steepest descent method and improved second - order comple- mentary filtering is for data fusion. Experimental resuhs show that the system can solve the noise problem and posture optimal estimation, and achieve the output of attitude data stably for a long time.
出处
《计算机仿真》
北大核心
2017年第12期49-54,共6页
Computer Simulation
关键词
旋翼飞行器
惯性测量单元
最速下降
改进型二阶互补滤波器
Rotary wing aircraft
inertial measurement unit
steepest descent
Modified Second Order Complementary Filter
