卡尔曼滤波在四旋翼飞行器姿态解算中的应用

Research on Application of Kalman Filter in the Four Rotor Aircraft Attitude Algorithm

文章利用卡尔曼滤波算法对四旋翼飞行器中的姿态进行解算。利用自主设计的四旋翼飞行器控制系统,在加速度计和陀螺仪获得飞行姿态原始数据的基础上,通过卡尔曼滤波算法进行了数据融合。

Attitude of four rotor aircraft is solved by kalman filter algorithm. Using the system of independent design,data fusion is completed by kalman filter algorithm on the basis of original data of flight attitude acquired by the accelerometer and gyroscope.