微小型无人直升机姿态信号的互补滤波融合算法  

The Research on Attitude Determination Algorithm Based on Complementary Filter for Unmanned Helicopter

作　　者：余彦霖[1] 祖家奎[1] 曾国贵[2] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]中国直升机设计研究所,江西景德镇333001

出　　处：《直升机技术》2014年第3期13-17,共5页Helicopter Technique

基　　金：南航航空航天大学基本科研业务费专项科研(NS2013031)资助项目

摘　　要：基于惯性测量技术获取飞行器姿态信号的方法已被广泛应用,然而对于微小型或低成本无人飞行器而言,通过MEMS传感器获取满足精度要求且稳定可靠的姿态信号仍然是具有一定难度的工程问题。文章针对民用微小型无人直升机的低成本要求和使用环境,利用三轴角速率陀螺仪和加速度计在姿态估计中频率互补的特性,采用互补滤波算法,改进了滤波参数的自适应调整方法,实现了俯仰角和滚转角信号的有效融合,得到的姿态信息可用于微小型无人直升机的内环增稳控制。仿真和试验数据表明,该方法测量精度较高,工程实现简单,算法稳定,能有效解决微小型无人直升机姿态信号的工程求解和使用问题。Inertial measurement method was widely used in attitude determination of MUH （Mini Unmanned Helicopter）. But for MUH or low-cost unmanned aircraft, getting stable and reliable and high-precision attitude angle by MEMS sensors was still a problem. This paper was for low-cost civil MUH. In attitude determination, gyroscope and accelerometer were complementary in characteristics. Complementary filer was applied to realize sensor fusion and get attitude information for stability augmentation system. This paper designed adaptive complementary filter, improved accuracy of attitude estimation. Experiment data showed that the method can effectively solve the problem of attitude determination of MUH.

关 键 词：无人直升机 互补滤波 自适应 姿态估计 

分 类 号：V212.12[航空宇航科学与技术—航空宇航推进理论与工程]