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Research on Attitude Algorithm of Unmanned HelicopterBased on Extended Kalman Filter(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2018年04期
Page:
9-
Research Field:
电气与电子工程
Publishing date:

Info

Title:
Research on Attitude Algorithm of Unmanned HelicopterBased on Extended Kalman Filter
Author(s):
Zhao Jia1; Shen Zhou2; Zhou Zhikai1; Ji Ming1; Ding Shuqing3; Zhang Jun3
(1.Nanjing Research Institute On Simulation Technique,Nanjing 210016,China)(2.School of NARI Electrical and Automation,Nanjing Normal University,Nanjing 210023,China)(3.Nanjing Special Equipment Safety Supervision and Inspection Research Institute,Nanjing 210019,China)
Keywords:
extended Kalman filter(EKF); attitude algorithm; unmanned helicopter
PACS:
V249
DOI:
10.3969/j.issn.1672-1292.2018.04.002
Abstract:
Based on extended Kalman filter(EKF)technology,an attitude algorithm is derived for the unmanned helicopter with high vibration and the difficulty of obtaining attitude precisely. The angular rates of gyroscopes and the accelerations of accelerometers are feed into EKF,which instantaneously compute the attitude information. With the modeling of EKF,the algorithm efficiently reduces the influences of vibration. The performance is evaluated by simulation and actual flight experiments.

References:

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Last Update: 2018-12-30