计算机应用 ›› 2017, Vol. 37 ›› Issue (5): 1507-1511.DOI: 10.11772/j.issn.1001-9081.2017.05.1507

• 应用前沿、交叉与综合 • 上一篇    下一篇

基于组合滤波的低成本飞行器姿态解算算法

王守华1,2, 邓桂辉1, 纪元法1,2, 孙希延1,2   

  1. 1. 桂林电子科技大学 信息与通信学院, 广西 桂林 541004;
    2. 认知无线电与信息处理教育部重点实验室, 广西 桂林 541004
  • 收稿日期:2016-10-28 修回日期:2016-12-13 出版日期:2017-05-10 发布日期:2017-05-16
  • 通讯作者: 邓桂辉
  • 作者简介:王守华(1975-),男,山东滨州人,副教授,硕士,主要研究方向:信息处理、导航定位;邓桂辉(1989-),男,广东茂名人,硕士研究生,主要研究方向:组合导航、室内导航;纪元法(1975-),男,山东莘县人,教授,博士,主要研究方向:卫星通信、卫星导航、数字信号处理;孙希延(1973-),女,山东潍坊人,研究员,博士,主要研究方向:卫星导航、电子对抗。
  • 基金资助:
    国家自然科学基金资助项目(61362005);“认知无线电与信息处理”教育部重点实验室2015年主任基金资助项目(CRKL150113);桂林电子科技大学研究生教育创新计划项目(2016YJCX90)。

Attitude calculation algorithm of low-cost aircraft based on combined filter

WANG Shouhua1,2, DENG Guihui1, JI Yuanfa1,2, SUN Xiyan1,2   

  1. 1. College of Information and Communication, Guilin University of Electronic Technology, Guilin Guangxi 541004, China;
    2. Key Laboratory of Cognitive Radio and Information Processing of Ministry of Education, Guilin Guangxi 541004, China
  • Received:2016-10-28 Revised:2016-12-13 Online:2017-05-10 Published:2017-05-16
  • Supported by:
    This work is supported by the National Natural Science Foundation of China (61362005), the Key Laboratory of Cognitive Radio and Information Processing, Ministry of Education (CRKL150113), the Innovation Project of Graduate Education in Guilin University of Electronic Technology (2016YJCX90).

摘要: 在低成本的飞行器姿态检测系统中,互补滤波器由于原理简单、计算量小,而被广泛应用。针对低成本飞行器在非匀速运动时因为加速度计不能区分重力加速度与运动加速度引起基于互补滤波的姿态解算误差较大的问题,提出了一种互补与自适应限幅组合滤波的姿态解算算法,并给出了自适应限幅滤波门阀的设计方法。通过融合陀螺仪输出的角速度与加速度计输出的加速度获取限幅滤波的限幅阀值;然后将归一化的加速度计输出增量通过限幅滤波的结果代替原互补滤波的加速度计输入,提高非匀速运动下姿态解算精度。经实际系统实时性能测试表明,所提算法估计精度高、计算量小,易于在低成本飞行器控制系统中实现。

关键词: 姿态解算, 互补滤波器, 限幅滤波, 四元数法, 自适应

Abstract: In the low-cost aircraft attitude detection system, the complementary filter was widely used because of simple principle and low computational complexity. Aiming at the problem that the accelerometer can not distinguish between the acceleration of gravity and motion may cause attitude calculation error by complementary filtering, an attitude calculation algorithm of complementary and adaptive limited filter was proposed for low cost aircraft, and the design method of adaptive limited filter gate valve was given. The angular velocity output by a gyroscope and the acceleration output by an accelerometer were fused to obtain the gate valve of the limited filter, and then the normalized output increment of the accelerometer by limiting filter replaced the accelerometer input of the original complementary filter. The accuracy of attitude determination under uniform motion was improved. The actual system test shows that the proposed algorithm has high accuracy and low cost, and is easy to be realized in low cost aircraft control system.

Key words: attitude calculation, complementary filter, limiting filtering, quaternion method, adaptive

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