多传感器信息融合的四旋翼姿态解算研究

Research on Four Rotor Attitude Calculation Based on Multisensor Information Fusion

提出了一种基于多传感器信息融合的互补滤波算法,采用电子罗盘、陀螺仪、加速度计三种传感器进行姿态测量,利用四元数法对姿态角进行表达,建立系统模型,通过构造一种多传感器信息融合的互补滤波器来实现无人机的姿态解算。室外多次试飞表明,基于多传感器信息融合的改进型互补滤波算法,能够有效地实现飞行器姿态数据的实时融合,进一步提高了飞行器的姿态估计准确度。

In the paper,a complementary filtering algorithm for multi-sensor information fusion is proposed.The electronic compass,gyroscope,accelerometer are used for attitude measurement,the attitude angle is expressed by four element method.The system model is established.The attitude calculation of UAV is realized by constructing a complementary filter of multi-sensor information fusion.The test results show that the improved complementary filtering algorithm based on multi-sensor information fusion can effectively realize the real-time fusion of attitude data,the accuracy of pose estimation is further improved.