基于UKF信息融合的多旋翼飞行器姿态估计

Attitude Estimation of Multi-Rotor Aircraft Based on UKF Information Fusion

姿态估计是多旋翼飞行控制的基础,为实现多旋翼三轴姿态估计,构建了基于MEMS陀螺、加速度计和磁力计的低成本姿态测量系统.该系统采用STM32F103作为控制器,集成加速度计和陀螺仪MPU6050,磁强计HMC5883作为测量传感器.针对多旋翼飞行器单一传感器无法准确测量姿态信息的问题,提出了基于无迹卡尔曼滤波信息融合的姿态估计算法.以陀螺仪为状态矢量,加速度计和磁强计解算的姿态角为观测矢量,无迹卡尔曼滤波器将陀螺的良好动态性能与加速度计、磁强计的良好静态性能结合起来,提高姿态测量精度,具有良好的动态跟踪性能.通过飞行测试,与高性能成品飞行器的姿态信息做对比,验证和分析该低成本姿态测量系统的有效性.实验结果表明,基于无迹卡尔曼滤波的姿态测量系统实现了动态环境下低成本多旋翼的精密姿态测量,为无人机自主飞行控制奠定了基础.

Attitude estimation is the basis of multi-rotor flight control.A low cost attitude measurement system based on MEMS gyro,accelerometer and magnetometer was constructed to measure the attitude of multi-rotor triaxial rotor.The system adopts STM32F103 as the controller,integrated accelerometer and gyroscope MPU6050,magnetometer HMC5883 as the measuring sensor.An attitude estimation algorithm based on the information fusion of trackless kalman filter is proposed to solve the problem that a single sensor of multi-rotor aircraft cannot accurately measure the attitude information.Taking the gyroscope as the state vector,the attitude Angle calculated by the accelerometer and the magnetometer as the observation vector,the trackless kalman filter combines the good dynamic performance of the gyro with the good static performance of the accelerometer and the magnetometer to improve the attitude measurement accuracy and have good dynamic tracking performance.The validity of the low cost attitude measurement system is verified and analyzed by comparing with the attitude information of high performance aircraft through flight test.The experimental results show that the attitude measurement system based on trackless kalman filter can achieve the precise attitude measurement of low-cost multi-rotor in dynamic environment,which lays a foundation for autonomous flight control of uav.