磁传感器偏航角诊断滤波方法研究

Research on yaw angle diagnosis and filtering method of magnetic sensor

在磁干扰环境中,磁传感器解算的飞行器偏航角会出现偏差。针对磁干扰导致的估计误差问题,面向模型不确定性飞行器系统,提出了基于非线性扩张状态观测器的磁传感器偏航角诊断滤波方法。该方法首先设计了一种双参数型非线性扩张状态观测器,降低了参数复杂性;然后基于该观测器设计改进型观测器残差法,对磁干扰数据进行诊断过滤;最后,设计了基于误差预测的改进型互补滤波器,通过融合滤波进一步抑制磁干扰。静态仿真实验结果表明,本文所设计的诊断过滤方法数据匹配率超过94%,融合滤波结果相位超前且更为平滑;动态飞行实验结果表明,该诊断滤波方法有效抑制了磁干扰对四旋翼飞行器偏航角估计的影响,增强了飞行器的稳定性和抗磁扰能力。

In the magnetic interference environment,the yaw angle of the aircraft calculated by the magnetic sensor will deviate.Aiming at the estimation error caused by the magnetic interference,a magnetic sensor yaw angle diagnostic filtering method based on nonlinear extended state observer is proposed for the aircraft system with model uncertainty.Firstly,a two-parameter nonlinear extended state observer is designed to reduce the complexity of parameters.Then,based on the observer,an improved observer residual method is designed to diagnose and filter the magnetic interference data.Finally,an improved complementary filter based on error prediction is designed to further suppress the magnetic interference through fusion filtering.The static simulation results show that the data matching rate of the diagnosis method designed in this paper is more than 94%,and the fusion filtering result is phase ahead and smoother.The dynamic flight experiment results show that the diagnostic filtering method effectively suppresses the influence of the magnetic interference on the yaw angle estimation of the four-rotor aircraft,and enhances the stability and anti-magnetic interference ability of the aircraft.