摘要
研究了某型无人旋翼机系统降落阶段轨迹估计方法,首先介绍了系统使用的Kalman滤波基本方程,建立并分析了无人旋翼机降落过程中的理想轨迹、实际轨迹的数学模型。通过Kalman滤波算法估计了无人旋翼机的UWB测量轨迹,并针对无人旋翼机系统在动平台上降落的特点,给出了协方差矩阵、过程噪声矩阵、测量噪声矩阵的选取方法,通过仿真给出了无人旋翼机Kalman轨迹估计结果。从仿真结果可以看出,所提Kalman轨迹估计方法可以在高噪声测量结果的条件下,估计无人旋翼机的运动轨迹。
This paper studies the trajectory estimation method of the precise landing stage of a certain type of unmanned rotorcraft system. Firstly, the basic equations of the Kalman filter used by the system are introduced, and the mathematical model of the ideal trajectory and actual trajectory during the landing of the unmanned rotorcraft is established and analyzed. The UWB measurement trajectory of the unmanned rotorcraft was estimated by the Kalman filter algorithm. According to the characteristics of the unmanned rotorcraft system landing on a moving platform, the selection methods of the covariance matrix, process noise matrix, and measurement noise matrix were given. Kalman trajectory estimation results of unmanned rotorcraft are given by simulation. It can be seen from the simulation results that the Kalman trajectory estimation method used in this paper can estimate the trajectory of the unmanned rotorcraft under the conditions of high noise measurement results.
作者
叶春煦
陶德桂
Ye Chunxu;Tao Degui(No.92419 Unit of PLA,Xingcheng 125106,China)
出处
《电子测量技术》
2020年第16期132-136,共5页
Electronic Measurement Technology
关键词
无人旋翼机
动平台
KALMAN滤波器
轨迹估计
超宽带
unmanned rotorcraft
moving platform
Kalman filter
trajectory estimation
ultra wide band(UWB)
