基于强跟踪滤波器的多传感器组合测姿系统

Multi-Sensor Attitude Determination System Based on Strong Tracking Filter

当无人机机动飞行时,采用加速度计校正陀螺误差的测姿系统不能有效地修正陀螺漂移问题,为此提出了基于强跟踪滤波器的多传感器组合测姿系统。引入GPS速度信息、捷联加速度信息和角速率信息建立了基于欧拉角描述的融合测姿系统模型,采用强跟踪滤波器对姿态进行融合估计,有效地估计出陀螺的漂移误差,从而得到无人机准确可靠的姿态测量,同时可以修正无人机的运动速度。通过建立飞行仿真模型,在给定的飞行航迹段对所提出的多传感器姿态测量系统进行了仿真研究,结果表明:测姿系统能够有效地减小模型误差的影响,估计出陀螺的漂移误差,得到更加准确的姿态测量。

The accelerometer based attitude measurement system cannot modify the gyro drift error when the unmanned aerial vehicle （UAV） flies in maneuvering state. A multi-sensor attitude determination system is presented. Velocity data measured by GPS, strap-down acceleration data and angular rate data are used to build the model of the multi-sensor attitude determination system described by Euler angles. The strong tracking filter is used to estimate the attitude. The method can estimate gyro drift error, achieve the attitude measurement with high precision and reliability, and modify the motion velocity of the UAV. The multi-sensor attitude determination system is simulated by establishing flight simulation model under the given flight track segment. Simulation resuhs show that the attitude determination system can decrease the error of the model uncertainties, estimate the gyro drift error and the output attitude with the higher precision.