基于扩展Kalman滤波的无人机位姿校正

Research on the attitude correction of unmanned aerial vehicle based on extended Kalman filter

无人机姿态控制问题是无人机稳定性飞行的关键,针对无人机在位姿参数不确定条件下制导控制器姿态定位精度不高的问题,提出了一种基于扩展Kalman滤波的无人机位姿校正方法,进行制导系统稳定性控制律设计.建立无人机飞行动力学模型,构建飞行弹道方程,分析无人机制导系统被控对象的约束参量,采用加速度计、陀螺计和磁力计进行位姿参量测量.考虑到位姿参数的不确定性,采用扩展Kalman滤波算法进行姿态参数的整定性处理,实现角度校正.将校正后的位姿参数输入模糊神经网络系统中,实现无人机制导控制律的优化设计.仿真结果表明,采用该方法进行无人机位姿校正和飞行制导控制,定姿精度较高、抗干扰能力较强,实现了飞行的稳定性控制.

UAV attitude control is the key technology for UAV flight stability. Considering the lower accuracy of the guidance controller attitude positioning of UAV in the posture parameters under uncertainty problems,an UAV attitude correction method is proposed based on extended Kalman filter,and the navigation system stability control law design method is presented. The establishment of UAV flight dynamics model is taken,the flight trajectory equation is constructed,the UAV guidance system with constraint parameter object is analyzed,the accelerometer,gyroscope and magnetometer are used to obtain the position parameter measurement considering the pose parameter uncertainty,the qualitative treatment of extended Kalman filter algorithm of attitude parameters is conducted,realizing the angle correction. The position and orientation parameters are input into the fuzzy neural network to realize the optimal design of the guidance control law. The simulation results show that the proposed method can be used in the flight guidance control of UAV,and the attitude accuracy is higher.