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论文:2021,Vol:39,Issue(1):175-181 |
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引用本文： |
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刘旭航, 刘小雄, 章卫国, 杨跃. 基于加速度修正模型的无人机姿态解算算法[J]. 西北工业大学学报 |
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LIU Xuhang, LIU Xiaoxiong, ZHANG Weiguo, YANG Yue. UAV attitude calculation algorithm based on acceleration correction model[J]. Northwestern polytechnical university |
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| 基于加速度修正模型的无人机姿态解算算法 |
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| 刘旭航, 刘小雄, 章卫国, 杨跃 |
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| 西北工业大学 自动化学院, 陕西 西安 710129 |
| 摘要: |
| 为提升动态环境下无人机导航系统姿态输出的精度，提出一种基于加速度修正模型的无人机姿态解算算法。建立加速度修正模型，求取估计非重力加速度和外部非重力加速度对加速度计输出值进行修正，减弱动态环境下非重力加速度对姿态解算的影响；搭建基于卡尔曼滤波的姿态解算模型，将修正加速度和磁力计解算的姿态角作为滤波模型的量测量，设计基于加速度修正模型姿态解算算法。实验结果表明，该算法可以减弱非重力加速度对姿态解算的干扰，避免无人机导航系统在动态环境中输出姿态角发散的问题，提升动态环境下无人机导航系统姿态输出的精度和抗干扰能力。 |
| 关键词:
无人机
姿态解算
加速度计
卡尔曼滤波
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| UAV attitude calculation algorithm based on acceleration correction model |
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| LIU Xuhang, LIU Xiaoxiong, ZHANG Weiguo, YANG Yue |
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| School of Automation, Northwestern Polytechnical University, Xi'an 710129, China |
| Abstract: |
| In order to improve the accuracy of attitude of unmanned aerial vehicle (UAV) navigation system in dynamic environment, an attitude calculation algorithm based on acceleration correction model is proposed. First, the acceleration correction model is established to calculate the estimated non-gravitational acceleration and external non-gravitational acceleration to modify the output value of the accelerometer, which reduces the influence of non-gravitational acceleration on the attitude calculation in dynamic environment. Then, the attitude calculation model based on Kalman filter is built, attitude angle calculated by corrected acceleration and magnetometer as measurement of filtering model, and the attitude calculation algorithm based on the acceleration correction model is designed. The experimental results show that the algorithm can reduce the interference of non-gravitational acceleration to attitude calculation, which avoids attitude angle divergence of UAV navigation system in dynamic environment, and improves the accuracy and anti-interference ability of UAV navigation system in dynamic environment. |
| Key words:
UAV
attitude calculation
acceleration correction model
Kalman filtering
experiment
dynamic environment
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| 收稿日期: 2020-04-17
修回日期:
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| DOI: 10.1051/jnwpu/20213910175 |
| 基金项目: 国家自然科学基金（62073266）、航空科学基金（201905053003）与陕西省飞行控制与仿真技术重点实验室资助 |
| 通讯作者: 刘小雄(1973-),西北工业大学副教授,主要从事导航、制导与控制研究。e-mail:liuxiaoxiong@nwpu.edu.cn
Email：liuxiaoxiong@nwpu.edu.cn |
| 作者简介: 刘旭航(1994-),西北工业大学博士研究生,主要从事无人机导航与控制研究。
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