基于IMM算法的多旋翼飞行器状态滤波器  

State Filter for Multi-Rotor UAV Based on Interacting Multiple Model Algorithm

作　　者：李阳[1] LI Yang(Concord University College,Fujian Normal University,Fuzhou 350117 China)

机构地区：[1]福建师范大学协和学院

出　　处：《自动化技术与应用》2019年第12期7-10,14,共5页Techniques of Automation and Applications

基　　金：福建省中青年教师科研项目（编号JAT170862）

摘　　要：本文针对多旋翼飞行器网络控制系统,研究其在丢包且无确认机制情况下的状态估计问题,提出了基于交互式多模型算法(IMM)的滤波器的设计方法。这类系统通常被称为类UDP系统(User Datagram Protocol like system)。目前该算法都是针对一般性的Markov系统给出的,为了解决原"高斯累和滤波器算法"中迭代次数多,计算复杂等的问题,将其引入应用到该类UDP系统中,并推导出IMM状态滤波器公式。实例仿真结果表明所设计的滤波器性能好,有较高的预测精度。This paper studies state filter problems for networked control systems of multi-rotor UAVs with packet loss but without packet acknowledgement(ACK). Such systems are usually known as User Diagram Protocol(UDP)-like systems. The interacting multiple model(IMM) algorithm proposed for general Markov jump systems, is seldom used in general UDPlike systems. In order to solve the problem of computational complexity of Gauss sum filter method, the IMM algorithm is utilized to in the filter design. The effectiveness of the proposed algorithm is illustrated by simulation examples.

关 键 词：多旋翼飞行器 丢包 无确认机制 交互式多模型算法 滤波器 类UDP系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]