二阶互补滤波姿态求解器的设计

Design of second order complementary filter attitude solver

为了降低小型四旋翼姿态解算的成本和提高姿态输出精度,采用了低成本MPU-9250作为IMU,设计了一种二阶互补滤波姿态求解器.二阶互补滤波算法所产生的计算量不大并且对处理芯片的性能要求不高,从而达到降低成本的目的.通过实际测试,以成品AHRS100作为航姿参考系统,得出姿态角度动态误差在3°以内.实验结果表明:所设计的姿态求解器能较精确地解算出四旋翼的姿态角度,满足了小型四旋翼对输出姿态精度的要求.

A second order complementary filter solver is designed in order to reduce the cost and improve the output precision of small quad-rotors in attitude calculation process. The Low-cost MPU-9250 is adopted as IMU in this paper. The second-order complementary filtering algorithm produces little computation and the performance requirement of the processing chip isn＇t high. It will achieve the purpose of reducing cost. Through the practical test, using AHRS100 as attitude reference system, and the dynamic error of the attitude angle is less than 3°. The experimental result show that the solver designed in this paper can calculate the attitude angle fairly accurately and meet the requirement of output precision of small quad-rotors.