基于EKF的四旋翼姿态解算仿真与设计  

Simulation and design of quadrotor attitude algorithm based on EKF

作　　者：金舒灿 胡越黎[1,2,3] 张贺 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海市电站自动化技术重点实验室,上海200072 [3]上海大学微电子研究与开发中心,上海200072

出　　处：《电子技术应用》2017年第9期127-131,136,共6页Application of Electronic Technique

摘　　要：随着电子技术的发展,四旋翼上的控制芯片处理速度越来越快,使得运行较复杂的姿态处理算法成为可能。扩展卡尔曼滤波(EKF)在无人机姿态解算领域也得到了应用。推导了四旋翼的传感器和EKF的数学模型,并对其进行了MATLAB仿真。仿真结果表明,扩展卡尔曼滤波器能解算出比较好的姿态数据。最后在实际无人机上进行了验证。With the development of electronic technology, the processing speed of the control chip on the quadrotor is faster and faster, and it also helps us to apply the more complicated attitude algorithms. Extended Kalman Filter( EKF) has also been applied in the field of UAV attitude algorithms. The mathematical model of the sensor and the EKF based on quadrotor are deduced and MATLAB simulation is carried out in this paper. The simulation results show that the extended Kalman filter can obtain the better attitude data. Finally, the attitude algorithms is verified on the actual unmanned aerial vehicle.

关 键 词：四旋翼 传感器 扩展卡尔曼滤波 MATLAB仿真 

分 类 号：TN99[电子电信—信号与信息处理]