摘要
研究飞行器姿态稳定性控制优化问题,针对载体作长时间飞行时,由于低精度陀螺、加速度计和磁传感器使航姿系统易受到运动加速度的影响而导致姿态精度较低,甚至发散的问题,为提高稳定性能,提出在采样周期内根据陀螺输出进行姿态更新。在滤波周期内首先利用系统自身信息实时地判断载体所处运动状态,然后根据运动状态选用不同的量测信息进行卡尔曼滤波,修正陀螺漂移造成的姿态角误差。仿真结果表明,算法提高了机动情况下的姿态精度,且在非机动和机动情况下,姿态精度都能满足系统稳定性能的要求。
When carrier maneuvers for a long time, translational acceleration may affect accelerometer output and result in attitude performance reduction of attitude and heading referrence system based on gyroscope, accelerometer and magnetometer. To solve this problem, firstly, system＇ s motion status is judged in real-time using the information implied in system itself. Then different observations are selected for kalman filter according to motion status. Simula- tion results show that attitude accuracy of the algorithm in this paper can satisfy application demand in mobile and static status.
出处
《计算机仿真》
CSCD
北大核心
2011年第9期36-39,共4页
Computer Simulation
