基于四元数卡尔曼滤波的四旋翼姿态测量系统设计与实现  

Quadrotor attitude measurement system design and implementation using quaternion Kalman filter

作　　者：钟雨露 周翟和[1] 曾传伟 邹克臣 Zhong Yulu;Zhou Zhaihe;Zeng Chuanwei;Zou Kechen(College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,China;Science and Technology on Communication Networks Laboratory,Shijiazhuang 050081,China)

机构地区：[1]南京航空航天大学自动化学院,南京211106 [2]通信网信息传输与分发技术重点实验室,石家庄050081

出　　处：《电子测量技术》2020年第1期41-45,共5页Electronic Measurement Technology

基　　金：国家自然科学基金(61703207);中国博士后科学基金(171980)项目资助。

摘　　要：在嵌入式微小型四旋翼姿态测量系统中,姿态算法、系统冗余、硬件方案等直接影响了测量系统的性能和实用性。针对上述问题构建了一种兼具实用性、鲁棒性以及准确性的姿态测量系统。系统使用四元数卡尔曼滤波对微机电陀螺仪、微机电加速度计以及微机电磁力计进行数据融合处理,在硬件设计中采用双加速度计,并同时采用不同采样频率对其采样以增强系统的冗余性。仿真结果表明该数据融合方法的稳定性以及准确性,同时仿真数据表明系统的测量误差在0.5°以内,能够满足微小型四轴飞行器控制系统所需的姿态测量要求。In micro and small quadrotor attitude measurement system, system measurement error, system redundancy and system hardware cost directly affect the performance and practicability of the measurement system. In this paper, an attitude measurement system with practicability, robustness and accuracy is constructed. This system uses the quaternion Kalman filter to carry on the data fusion processing to the measurement data from gyroscope, accelerometer and magnetometer. The result of simulation shows that the stability and accuracy of data fusion method, the experimental data show that the measurement error of this system within the 1° to 2°, can satisfy the miniature aircraft control system for four axis attitude measuring requirements.

关 键 词：数据融合 四元数卡尔曼滤波 MATLAB仿真 姿态测量系统 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]