双因子自适应滤波算法在四旋翼上的应用

Application of two-factor adaptive filtering algorithm in quadrotor

针对动力学模型的不精准和观测存在误差问题,建立四旋翼的动力学模型和双因子自适应滤波模型,采用两个因子分别调节动力学模型和观测模型对滤波的影响,通过仿真,对比卡尔曼、扩展卡尔曼滤波算法。结果表明:双因子自适应滤波算法在误差与稳定性方面均有所提高。

Aiming at problems of inaccurate dynamic model and observation error, quadrotor dynamic model and two-factor adaptive filtering model are set up, using two factors seperately adjust effects of dynamic and observation model on filtering, through simulation, compared with Kalman filtering, extended Kalman filtering algorithm. Results show that two-factor adaptive filtering algorithm are improved in error and stability.