摘要
针对微型四旋翼飞行器运行过程中姿态数据中参杂着噪声干扰的情况,提出了以四元数与卡尔曼滤波相结合对飞行器的姿态数据做互补融合处理的方法。在分析微型四旋翼飞行器工作原理和结构组成的基础上,应用相关的物理规律建立飞行器的姿态算解的方程,提出了用卡尔曼滤波器解决飞行器的运动方程的方法,设计PID控制器,并进行相应的软件程序设计。测试结果与理论分析表明,该方法能实现良好的滤波效果,达到了平稳飞行的目的。
Aiming at the white noise interference in the attitude data during the operation of the quadroter aircraft, a method of complementary fusion processing of the attitude data of the aircraft by combining quaternion and kalman filter was proposed in this paper. The quadroter aircraft attitude calculation solution related to physical laws was established based on researching the characteristics and working principle. The method of solving the equation of motion of the aircraft by Kalman filter was put forward. The PID controller and the corresponding software program were designed. The test results and theoretical analysis showed that the method achieved good filtering effect, which achieved the goal of smooth flight.
作者
胡开明
李跃忠
刘薇
HU Kaiming;LI Yuezhong;LIU Wei(Fundamental Science on Radioactive Geology and Exploration Technology Laboratory,East China Institute of Technology,Nanchang 330013,China;Jiangxi Province Engineering Research Center of New Energy Technology and Equipment,Nanchang 330013,China)
出处
《探测与控制学报》
CSCD
北大核心
2020年第1期50-55,共6页
Journal of Detection & Control
基金
国家自然科学基金项目资助(61663001)
放射性地质与勘探技术国防重点学科实验室开放基金资助(RGET1512)
抚州市科技计划项目资助(2018DB02)。
关键词
四旋翼飞行器
噪声干扰
姿态算解
卡尔曼滤波器
quadroter aircraft
noise interference
attitude calculation solution
Kalman filter
