基于四元数的PID改进型互补滤波算法

Improved PID complementary filtering algorithm based on quaternion

传统的互补滤波算法实现了多传感器的数据融合,补偿了陀螺仪的积分误差,且有运算量小的优点。但是也具有数据波动大,解算误差大等缺陷。针对数据波动较大的问题引入微分环节,由此提出四元数PID改进型互补滤波算法,以PID控制器的反馈来抑制数据波动。实验证明该算法继承了互补滤波算法运算量小的优点,同时降低了因数据波动产生的误差,能在更短的时间内稳定、有效地跟踪四轴的飞行姿态。

The traditional complementary filter algorithm which realizes the data fusion of multi sensors and compensates the integration error of the gyroscope has the advantage of easier calculation.But it also has some defects,such as large data fluctuation and calculating error.In this paper,the differentiation element is introduced to solve the problem of data fluctuation.An improved algorithm is proposed with PID controller to weaken data fluctuation.The experimental results showthat the algorithm in this paper has the advantage of less computation and small data fluctuation.It can achieve stable state very quickly and track quadcopter effectively.