自适应显式互补滤波在六旋翼飞行器中的应用

Application of adaptive explicit complementary filtering in six-rotor aircraft

针对六旋翼飞行器的惯性传感器在测量过程中存在漂移的问题,提出了基于自适应显式互补滤波的姿态解算算法,并对该算法的原理和稳定性进行分析;搭建了六旋翼飞行器的实验测试装置,并进行机体的动、静态测试实验。在实验中,对自适应显式互补滤波算法、显式互补滤波算法以及陀螺仪传感器测量方法进行比较。实验结果表明:自适应显式互补滤波算法能够实现惯性传感器的解算姿态角误差收敛,且动态误差最小。

To solve the drift problem of inertial sensor of six-rotor aircraft during the measurement process,a attitude estimation algorithm based on adaptive explicit complementary filtering（AECF） is proposed.The principle and stability of the proposed algorithm are analyzed.A six-rotor aircraft experimental test device is set up to carry out static and dynamic experiment of the aircraft.Adaptive explicit complementary filtering algorithm,explicit complementary filtering algorithm and gyroscope sensor measurement are compared in the experiment.The experimental results show that the adaptive explicit complementary filtering algorithm can make the solution attitude error of sensor gradually converge and its dynamic error is the smallest.