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微型无人直升机姿态测量系统设计与实现 被引量：4

Design and implementation of attitude determination system for mini autonomous helicopter
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摘要 为补偿载体运动加速度对基于加速度计和磁传感器的低成本姿态测量系统造成的影响,将GPS速度差分得到的运动加速度信号引入到比力矢量观测方程.通过构建线性虚拟观测方程,将带观测滞后的非线性系统滤波问题转换成带时间相关测量噪声与状态相关噪声的线性系统滤波问题,同时给出了相应的线性Kalman滤波算法并将该算法应用于微型无人直升机的姿态测量系统.实验结果表明,该姿态测量系统可有效减小运动加速度的影响,显著提高机动环境下无人直升机飞行姿态的测量精度. The GPS-derived acceleration was introduced to correct the gravity field vector in order to compensate for the acceleration effect on the accelerometers and magnetometers based low cost attitude determination system. The nonlinear system with delayed measurement was transformed to a linear system with state dependent noises and temporal correlated observation noises by employing linear pseudo-measurement equation. Then the corresponding linear Kalman filter was applied to the attitude determination system of a mini autonomous helicopter. Experimental results show that the system can reduce the effect of translational acceleration and significantly improve the measurement accuracy of helicopter attitude during maneuvers.
作者 徐玉 李平 韩波
机构地区 浙江大学工业控制技术研究所
出处 《浙江大学学报（工学版）》 EI CAS CSCD 北大核心 2009年第1期172-176,共5页 Journal of Zhejiang University：Engineering Science
基金 国家"863"高技术研究发展计划资助项目(2006AA10Z204)
关键词 微型无人直升机 姿态测量 GPS加速度 时间相关观测噪声 mini autonomous helicopter attitude determination GPS-derived acceleration temporal correlated observation noise
分类号 U666.1 [交通运输工程—船舶及航道工程] V279 [航空宇航科学与技术—飞行器设计]
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参考文献12

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二级参考文献12

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共引文献19

同被引文献30

引证文献4

二级引证文献13

浙江大学学报（工学版）
2009年 第1期

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