基于PI自适应卡尔曼滤波的无人机姿态解算算法  

UAV Attitude Measurement Algorithm Based on PI Adaptive Kalman Filter

作　　者：郭佳晖 袁汉钦 蒋滨安 GUO Jiahui;YUAN Hanqin;JIANG Binan(Department of Ordnance Engineering,PLA Army Academy of Artillery and Air Defense,Hefei 230031,China;Naval military representative office in Hefei area,Hefei 230031,China)

机构地区：[1]中国人民解放军陆军炮兵防空兵学院兵器工程系,合肥230031 [2]海军驻合肥地区军事代表室,合肥230031

出　　处：《传感技术学报》2020年第1期103-106,共4页Chinese Journal of Sensors and Actuators

摘　　要：针对无人机姿态解算过程中,机载加速度计噪声时变,导致姿态估计值出现较大误差的问题,提出了一种基于PI自适应卡尔曼滤波的姿态解算算法,通过监视残差方差的理论值与实际值的差值,利用PI控制算法对观测噪声协方差矩阵进行在线修正,来解决由于噪声估计不准而导致滤波发散的问题。实验结果表明,即使是在无人机的姿态发生剧烈变化时,该算法依然具有良好的精度,鲁棒性较好。Aiming at the problem that the noise of accelerometer fixed on the UAV changes with time,which causes large error of attitude estimation,an algorithm of PI Adaptive Kalman Filter is proposed.PI controller is used to correct measurement noise covariance online by monitoring the difference between the theoretical variance and the actual variance of the residual in the Kalman filter algorithm,which improves the accuracy of attitude estimation and sloves the problem of filter divergence due to inaccurate noise estimation.The experimental results show that improved algorithm can accurately estimate the attitude even when the attitude of the UAV changes drastically,which has higher Robustness than the traditional algorithm.

关 键 词：姿态解算 卡尔曼滤波 PI控制 自适应滤波 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]