四旋翼惯性导航姿态解算算法的改进与仿真  

Improvement and Simulation of Four Rotor Aircraft Inertial Navigation Attitude Algorithm

作　　者：李汉博 秦文华[1] 

机构地区：[1]曲阜师范大学物理工程学院,山东曲阜273165

出　　处：《计算机测量与控制》2016年第7期187-189,194,共4页Computer Measurement &Control

基　　金：山东省科技发展计划项目(2014GGX101027);山东省高校计划项目(J15LN08)

摘　　要：为了实现四旋翼飞行器的高精度导航,提出了互补滤波法和四元数算法对传感器获得的数据进行修正,最大限度的抑制干扰误差并提高姿态角解算的准确度;首先简单推导了捷联式惯性导航系统的算法基本原理并利用互补滤波算法进行改进,然后给出了惯性导航系统的力学编排模型分析旋翼飞行器的运动姿态;最后仿真验证数据选用惯性仪表MPU6050和HMC5883所得到实测数据采集并进行仿真分析,平台处理器选用STM32来仿真惯性仪表的测量速度,最终得到实验结果证明算法可行性。In order to implement high precision four rotor aircraft navigation that puts forward the complementary filter method and the quaternion algorithm for sensor data amended,it can restrain the interference of the maximum error and improve the accuracy of attitude Angle calculating.First of all,a simple algorithm of strapdown inertial navigation system was deduced basic principle and use the complementary filter algorithm was improved,the inertial navigation system is given and then the mechanical layout model analysis of rotor aircraft motion.Finally simulation data selection of inertial instrument MPU6050 and HMC5883 simulation analysis was made on the measured data,platform selection STM32 processor to simulate inertial instrument measurement speed,eventually get the experimental results show feasibility of the algorithm.

关 键 词：四旋翼飞行器 互补滤波法 四元数算法 传感器 姿态角 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]