基于卡尔曼滤波的MUH姿态信号融合算法研究  

The research on attitude determination algorithm based on kalman filter for unmanned helicopter

作　　者：余彦霖[1] 祖家奎[1] 廖智麟[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]中国直升机设计研究所21室,景德镇333001

出　　处：《电子测量技术》2015年第5期106-110,共5页Electronic Measurement Technology

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：利用MEMS陀螺仪和加速度计获取姿态的方法已被广泛用于低成本的民用无人直升机上,陀螺仪的漂移和加速度计中的运动加速度都会影响估计精度,设计了基于四元数的卡尔曼滤波器,根据三轴角速率陀螺和加速度计信号,融合无人直升机姿态信号,并针对陀螺仪的漂移和加速度计的测量误差,设计了自适应的量测噪声方差矩阵,补偿融合精度,得到稳定可靠且精度较高的姿态信息,用于无人直升机的内环增稳控制。实验表明,该方法估值精度较高,能有效解决小型无人直升机姿态求解问题。Inertial measurement method is widely used in attitude determination of low-cost civil MUH（Mini Unmanned Helicopter）. But the dirft of gyroscope and the kinematic acceleration affect the accuracy of estimation. This paper designed a Kalman filter based on quaternion. According to the gyroscope and accelerometer signal, fusion the attitude of MUH. And designed adaptive covariance matrix of measurement noise to improve the fusion accuracy. Get stable and high-accuracy attitude information for stability augmentation system. Experiment data shows that the method can effectively solve the problem of attitude determination of MUH.

关 键 词：无人直升机 四元数 卡尔曼滤波 自适应 姿态估计 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]