摘要
The non-linearity problem of aircraft system could not be overcome by using the MEMS sensor only.In order to improve the accuracy of aerial vehicle attitude,an aircraft attitude estimation of the MEMS sensor based on modified particle filter is proposed.The aircraft attitude is optimized by the conjugate gradient method,and the drift error of gyroscope is reduced.Moreover,the particle weight is updated by the observed value to obtain an optimized state estimate.Finally,the conjugate gradient method and the modified particle filter are weightily combined to determine the optimal weighting factor.The attitude estimation is carried out with STM32 and MEMS sensor as the core to design system.The experimental results show that the static and dynamic attitude estimation performances of the aircraft are improved.The performances are well,the attitude data is relatively stable,and the tracking characteristics are better.Moreover,it has better robustness and stability.
基金
National Natural Science Foundation of China(No.61261029)
