基于梯度下降法和互补滤波的航向姿态参考系统

Attitude and heading system based on gradient descent algorithm and quaternion complementary filter

针对微型无人机航向姿态参考系统低成本、小型化的工程实现需求,基于三轴陀螺仪、加速度计和磁力计,提出了一种在线实时姿态估计算法。该算法采用四元数描述系统模型,采用改进的梯度下降法预处理加速度计和磁力计的姿态信息,然后采用互补滤波融合陀螺仪的姿态信息,实现高精度实时姿态估计。最后通过在线性能测试,来验证算法的有效性。结果表明,该算法测量误差小、运算量小、实时性高,具有较高的工程应用价值。

In order to satisfy the requirement of the low cost micro unmanned aerial vehicles＇ attitude and heading reference system （AHRS）, the online real-time attitude determination method is proposed based on the combination of triaxial gyroscope, accelerometer and magnetometer. In the system, the system model is described by quaternion method, and an optimized gradient descent algorithm is used to process the data measured by accelerometer and magnetometer. And the complementary filter whose parameters are adjustable is used to fuse the data with triaxial gyroscope measurement to obtain high-precision attitude information. Online experiments were conducted to assess the performance of algorithm and verify the effectiveness of the algorithm. And the results show that the proposed scheme has characteristics of low error of attitude tracking, parameter adjustment, low computer load, and easy to realize, therefore the designed algorithm is applicable for low-cost and small-sized attitude and heading reference system of micro UAV.