风力干扰环境下四旋翼飞行器姿态解算研究

Research on UAV Attitude Measurement Based on Wind disturbance

针对风力影响无人机姿态解算,进而干扰无人机飞行控制的问题,基于扩展卡尔曼滤波理论,提出了一种风力干扰环境下无人机姿态解算方法以增强姿态解算的稳健性从而提高无人机的控制性能。所提方法通过四元数微分方程和陀螺仪噪声误差建立扩展卡尔曼滤波状态方程,并基于加速度计、磁强计、风力相关数据,得到四元数解算结果。基于实测数据的测试结果表明,所提算法可以有效地抑制姿态角发散,提高姿态解算精度,改善无人机控制性能。

Focusing on the issue that the existence of wind has an effect on the attitude algorithm of unmanned aerial vehicle （UAV）, and thereafter interferes with the flight control of UAV, based on extended Kalman filter （EKF） theory, an attitude measurement of UAV method is proposed in the presence of wind interference here to enhance the robustness of the attitude measurement and then the UAV control performance can be improved. The extended Kalman state equation can be established with the proposed method through the quaternion differential equation and the gyro noise error, and then the quaternion can be obtained based on the measurement of accelerometer, magnetometer and wind. Based on the measured data, experimental results show that the proposed algorithm can depress the divergence of attitude angle effectively, upgrade the attitude measurement accuracy, and then improves performance of the UAV control.