摘要
获得精确的实时姿态信息是飞行器控制研究的关键。针对传统算法对于飞行器运动过程的姿态解算精度较低的问题,提出一种基于梯度下降法的姿态融合算法。利用梯度下降算法可将陀螺仪、加速度计和磁力计的数据进行融合,并能实现姿态四元数的更新,求解出每一数据采集时刻的姿态信息。试验表明,在解算姿态航向参考系统设备绕预定轨迹运行而产生3组数据时,该算法能有效融合各传感器数据,解算精度高。
Obtaining accurate real-time attitude information is the key of aircraft control research.Aiming at the problem that the traditional algorithm has low accuracy in solving the attitude of aircraft in motion,an attitude fusion algorithm based on gradient descent method is proposed.Using gradient descent algorithm,the data of gyroscope,accelerometer and magnetometer can be fused,and the attitude quaternion can be updated.The attitude information of each data acquisition time can be solved.Experiments show that the algorithm can effectively fuse the data of each sensor when solving the three groups of data generated by the equipment of the attitude and heading reference system running around the predetermined trajectory,and the calculation accuracy is high.
作者
高怡
李东航
郭飘
GAO Yi;LI Donghang;GUO Piao(School of Electronic Engineering,Xi’an Shiyou University,Xi’an 710065,China)
出处
《电子设计工程》
2021年第23期7-10,15,共5页
Electronic Design Engineering
基金
国家自然科学基金(51604226)
陕西省自然基金面上项目(2018JM5064)。
关键词
飞行器
姿态解算
四元数
多传感器数据融合
梯度下降法
aircraft
attitude calculation
quaternion
multi⁃sensor data fusion
gradient descent method
