基于加速度修正模型的无人机姿态解算算法

UAV attitude calculation algorithm based on acceleration correction model

为提升动态环境下无人机导航系统姿态输出的精度,提出一种基于加速度修正模型的无人机姿态解算算法。建立加速度修正模型,求取估计非重力加速度和外部非重力加速度对加速度计输出值进行修正,减弱动态环境下非重力加速度对姿态解算的影响;搭建基于卡尔曼滤波的姿态解算模型,将修正加速度和磁力计解算的姿态角作为滤波模型的量测量,设计基于加速度修正模型姿态解算算法。实验结果表明,该算法可以减弱非重力加速度对姿态解算的干扰,避免无人机导航系统在动态环境中输出姿态角发散的问题,提升动态环境下无人机导航系统姿态输出的精度和抗干扰能力。

In order to improve the accuracy of attitude of unmanned aerial vehicle(UAV)navigation system in dynamic environment,an attitude calculation algorithm based on acceleration correction model is proposed.First,the acceleration correction model is established to calculate the estimated non-gravitational acceleration and external non-gravitational acceleration to modify the output value of the accelerometer,which reduces the influence of non-gravitational acceleration on the attitude calculation in dynamic environment.Then,the attitude calculation model based on Kalman filter is built,attitude angle calculated by corrected acceleration and magnetometer as measurement of filtering model,and the attitude calculation algorithm based on the acceleration correction model is designed.The experimental results show that the algorithm can reduce the interference of non-gravitational acceleration to attitude calculation,which avoids attitude angle divergence of UAV navigation system in dynamic environment,and improves the accuracy and anti-interference ability of UAV navigation system in dynamic environment.