基于改进互补滤波的小型无人机MEMS姿态解算

Small UAV MEMS attitude algorithm based on the modified complementary filter

针对小型无人机姿态解算中MEMS器件的误差导致的姿态精度问题,利用MEMS加速度计和陀螺仪组成的小型低成本姿态测量单元,基于欧拉角法对小型无人机姿态角进行计算更新,并且提出一种改进型互补滤波算法精确姿态角。实验结果表明,对比于传统的互补滤波,文中提出的改进型互补滤波算法的收敛性和平滑性更好,能有效对小型无人机的姿态进行跟踪和测量,降低了MEMS姿态测量单元的误差影响。

For the error caused by the attitude accuracy problem of MEMS devices of attitude algorithm of small unmanned aerial vehicle（ UAV）,a small low cost attitude measurement unit was used,which consists of MEMS accelerometer and gyroscope. Euler angle method was used to calculate and update small UAV＇s attitude angle,and a kind of modified complementary filter was put forward to make attitude angle more precise. The experimental results show that compared with the traditional complementary filter,the modified complementary filter algorithm＇s convergence and smoothness is better in this paper,this algorithm can effectively track and measure small UAV＇s attitude,and reduce the error influence of MEMS attitude measurement unit.