摘要
以微小型无人直升机为背景,提出了一种基于多传感器融合的地磁导航算法。在分析捷联磁力计输出模型的基础上,提出用基于递推最小二乘的椭球校正法校正捷联磁力计的零位偏差和比例系数误差,取得了比椭圆校正法更好的效果;然后将磁力计和陀螺仪输出进行互补滤波融合以提高航向测量的动态性能并抑制高频磁场干扰;最后对估计地磁场进行倾角补偿获得航向角估计。实验结果表明:利用该算法得到的航向角静态估计误差小于1.5°,在无人直升机的自主悬停、航线飞行和自主降落飞行模态中能很好地实现航向角控制与横纵向速度分解。该地磁导航算法完全可以满足微小型无人直升机自主飞行的要求。
A geomagnetic navigation algorithm for miniature unmanned helicopter is presented.On the basis of the analysis of strapdown magnetometer output model,an ellipsoid hypothesis correction algorithm is introduced to compensate the zero bias and scale factor error based on recursive least square.The corrected geomagnetic measurements are then fused with the measurements of strapdown gyros using complementary filter.The yaw angle is finally calculated from the tilt compensated geomagnetic measurements.The experiment results show that the static yaw angle estimation error derived from the proposed algorithm is less than 1.5°,and in the autonomous hovering,trajectory tracking and landing flight modals of miniature autonomous helicopter,the algorithm can well realize the yaw angle control and the decoupling of longitudinal and lateral velocity.Thus,the proposed geomagnetic navigation algorithm can meet the requirements of miniature autonomous helicopter.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2011年第3期337-342,共6页
Acta Armamentarii
基金
国家"863"高技术研究发展计划资助项目(2006AA10Z204)
关键词
飞行器控制、导航技术
地磁导航
椭球校正法
互补滤波融合
航向角
control and navigation technology
geomagnetic navigation
ellipsoid hypothesis correction algorithm
complementary filtering fusion
yaw angle
