基于自适应显式互补滤波的姿态解算方法  

Attitude Estimation Based on Adaptive Explicit Complementary Filter

作　　者：孙金秋[1,2] 游有鹏[2] 傅忠云[1] 

机构地区：[1]南京航空航天大学金城学院,江苏南京211156 [2]南京航空航天大学机电学院,江苏南京210016

出　　处：《测控技术》2015年第4期24-27,31,共5页Measurement & Control Technology

基　　金：国家自然科学基金资助项目(51175263)

摘　　要：显式互补滤波(ECF,explicit complementary filter)原理简单、计算量小,被广泛应用于低成本的姿态检测系统中。针对显式互补滤波中PI参数只能试凑的问题,给出了其PI参数设计规律及其离散化形式,并提出了自适应显式互补滤波(AECF,adaptive explicit complementary filter)算法。该算法根据加速计的输出,判断载体的运动情况,实时调整PI参数,从而提高姿态估计的精度。实验测试表明,自适应显式互补滤波的静态和动态性能均优于固定增益的显式互补滤波。Explicit complementary filter（ECF） is widely used in low-cost attitude estimation system,because of simple principle and small amount of calculation.However,its demerit is that the PI parameters are determined by trial and error.The design process and discretization of PI parameters are described.Attitude estimation based on adaptive explicit complementary filter（AECF） is proposed.PI parameters are adjusted in real time according to die state of vehicle,which is estimated by the accelerometer data.Experiment results verify that the algorithm based on adaptive ECF has better static and dynamic performances than ECF with fixed gains.

关 键 词：姿态估计 显式互补滤波 PI参数 自适应 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]