小型无人直升机嵌入式导航系统算法与飞行试验  

Algorithm and Flight Tests of Embedded Navigation System for Small Scaled Unmanned Helicopter

作　　者：宋彦国[1] 郭剑东[1] 

机构地区：[1]南京航空航天大学直升机旋翼动力学国家级重点实验室,南京210016

出　　处：《数据采集与处理》2011年第2期224-229,共6页Journal of Data Acquisition and Processing

基　　金：国家自然科学基金(60705034)资助项目

摘　　要：基于微陀螺、加速度计、磁强计以及GPS模块构建了姿态航向位置参考系统(Attitude heading position ref-erence system,AHPRS)。首先,通过等效旋转矢量法由陀螺解算出估计姿态角;其次通过GPS、加速计的测量值,结合磁强计估计补偿姿态角,推导基于误差四元数的滤波方程,滤波器的周期采用GPS的更新周期;然后,为降低导航方程的阶次,忽略姿态角的误差小量简化方程,提高了系统的解算实时性;最后,通过仿真与飞行试验验证了该姿态估计系统具有很好的姿态估计精度,满足微小型飞行器的姿态估计要求。The attitude heading position reference system（AHPRS） is developed using the MEMS gyroscope,accelerometer,magnetometer and GPS receiver.Firstly,the estimation attitude is obtained by the equivalent vector method of gyroscope output.Secondly,the combination of GPS,accelerometer and magnetometer output is used to estimate the observed attitude,and the error quaternion Kalman filter is derived and updated with the GPS period.Thirdly,the navigation Kalman filter is established by ignoring the small error attitude,and the order of filter is obviously decreased and the real-time property of the system is increased.Finally,the simulation and flight test indicate that the precision of the attitude estimation is improved and satisfied the requirement of the miniature air vehicles.

关 键 词：导航 等效旋转矢量 误差四元数 姿态估计 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]