基于AHRS的改进自适应互补滤波算法研究

The Research on Improved Adaptive Complementary Filter Algorithm Based on the AHRS

针对基于MEMS传感器的航姿参考系统精度不高、数据易漂移导致测量无人载体航姿数据不准确的问题,设计了基于四元数与自适应互补滤波相结合的改进自适应互补滤波算法。通过对MEMS加速度计与磁强计输出数据、MEMS陀螺仪的积分数据进行补偿、数据融合,减小积分漂移。仿真实验数据表明,该改进互补滤波算法可抑制外部噪声对输出数据准确性的影响,提高了姿态角输出数据准确性。

Aiming at the inaccuracy of the measurement data of unmanned aerial vehicle（UAV）due to the low accuracy and easy data drift in the attitude and heading reference system（AHRS）based on MEMS sensors,an improved adaptive complementary filter algorithm based on quaternion and adaptive complementary filter was put forward in the paper.By fusing the data of MEMS accelerometers,magnetometers and integral data of MEMS gyroscopes,the drift of integrator is decreased.Experimental results show that the accuracy of the data from AHRS was improved by reducing the effect of noise for the application of the adaptive complementary filter algorithm.