低成本无人机姿态解算研究
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摘要
针对小型四旋翼无人机姿态解算数据精度低、缺少余度控制、易发散等问题,提出一种基于GPS、三轴陀螺仪加速度计、三轴磁力计的随机加权自适应滤波算法估计无人机姿态;建立四旋翼无人机姿态旋转矩阵,搭建加速度计和磁力计获取无人机姿态信息的模型,以及采用四元数解算法的陀螺仪定姿解算模型;采用随机加权自适应估计法,依据多元函数求极值定理,在保证总体均方差最小的情况下导出最优随机加权因子,进而解算出姿态角信息,提高四旋翼无人机姿态解算滤波精度与稳定性;仿真与试验结果表明:随机加权自适应滤波与平均值滤波算法相比解算精度更高,输出结果更平稳,且无人机各项预期功能均能正常实现,能够满足四旋翼无人机自主飞行的需要。
In order to improve the drawbacks of low accuracy,lack of redundancy and divergence that occurred in the attitude calculation of micro quadrotor unmanned aerial vehicle(UAV),a random weighted adaptive filter algorithm is proposed based on GPS,3-axis gyroscopeaccelerometer and 3-axis magnetometer,to estimate the UAV attitude.A Four rotor UAV attitude rotation matrix is established,A model for obtaining the attitude information of UAV with accelerometer and magnetometer,and Attitude calculation model of gyroscope sensor using four element method.By randomly weighted adaptive estimation method,based on the multiple function extremum theorem,in ensuring the overall variance under the condition of minimum to derive the optimal random weighting factor,and then calculate the attitude information,improve the quadrotor UAV attitude estimation filtering accuracy and stability.The simulation and experimental results show that the random weighting adaptive filtering and the average filtering algorithm are more accurate and more stable,and the expected function of the UAV can be realized,which can meet the needs of the autonomous flight of the quadrotor UAV.
In order to improve the drawbacks of low accuracy,lack of redundancy and divergence that occurred in the attitude calculation of micro quadrotor unmanned aerial vehicle(UAV),a random weighted adaptive filter algorithm is proposed based on GPS,3-axis gyroscopeaccelerometer and 3-axis magnetometer,to estimate the UAV attitude.A Four rotor UAV attitude rotation matrix is established,A model for obtaining the attitude information of UAV with accelerometer and magnetometer,and Attitude calculation model of gyroscope sensor using four element method.By randomly weighted adaptive estimation method,based on the multiple function extremum theorem,in ensuring the overall variance under the condition of minimum to derive the optimal random weighting factor,and then calculate the attitude information,improve the quadrotor UAV attitude estimation filtering accuracy and stability.The simulation and experimental results show that the random weighting adaptive filtering and the average filtering algorithm are more accurate and more stable,and the expected function of the UAV can be realized,which can meet the needs of the autonomous flight of the quadrotor UAV.
引文
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[14]张浩,仁芊.四旋翼飞行器航姿测量系统的数据融合方法[J].兵工自动化,2013,32(1):28-31.
[15]振江,康健一,张青,等.数据融合技术在温室温度检测中的应用[J].农业机械学报,2006,37(10):101-103.
[16]李伟,何鹏举,高社生.多传感器加权信息融合算法研究[J].西北工业大学学报,2010,28(5):674-678.
[2]赵勃,鲜斌,张鑫,等.四旋翼飞行器硬件在环仿真平台研究[A].第三十一届中国控制会议论文集[C].合肥,2012,c卷:5008-5013.
[3]吴勃,徐欢,乔相伟.状态切换UKF的飞行器姿态确定算法[J].电机与控制学报,2012,16(6):98-104.
[4]冯智勇,曾瀚,张力,等.基于陀螺仪及加速度计信号融合的姿态角度测量[J].西南师范大学学报:自然科学版,2011,36(4):137-141.
[5]万晓凤,康利平,余运俊,等.基于多传感器数据融合的四旋翼飞行器的姿态解算[J].科技导报,2014,32(19):31-35.
[6]李媛媛,张立峰,多传感器自适应加权融合算法及其应用研究[J].自动化与仪器仪表,2008(2):10-13.
[7]吴杰,闫建国.基于修正的卡尔曼滤波的姿态估计算法研究[J].计算机真,2012,29(2):54-57.
[8]张荣辉,贾宏光,陈涛,等.基于四元数法的捷联式惯性导航系统的姿态解算[J].光学精密工程,2008,16(10):1964-1970.
[9]葛泉波,李文斌,孙若愚,等.基于EKF的集中式融合估计研究[J].自动化学报,2012,39(6):816-825.
[10]郭晓鸿,杨忠,陈喆,等.EKF和互补滤波器在飞行姿态确定中的应用[J].传感器与微系统,2011,30(11):149-152.
[11]辛琪,史忠科.基于多源信息的飞行姿态估计方法[J].飞行力学,2012,30(6):527-531.
[12]梁延德,程敏,何福本,等.基于多源信息的飞行姿态估计方法[J].飞行力学,2011,30(11):56-58.
[13]Madgwick S O H,Harrison A J L,Vaidyanathan R H.Estimation of IMU and MARG orientation using agradient descent algorithm[A].Proceedings of the 2011IEEE International Conference on Rehabilitation Robotics(ICORR)[C].Switzerland:IEEE,2011:1-7.
[14]张浩,仁芊.四旋翼飞行器航姿测量系统的数据融合方法[J].兵工自动化,2013,32(1):28-31.
[15]振江,康健一,张青,等.数据融合技术在温室温度检测中的应用[J].农业机械学报,2006,37(10):101-103.
[16]李伟,何鹏举,高社生.多传感器加权信息融合算法研究[J].西北工业大学学报,2010,28(5):674-678.