[1]赵 佳,沈 周,周智恺,等.基于扩展卡尔曼滤波的无人直升机姿态解算[J].南京师范大学学报(工程技术版),2018,18(04):009.[doi:10.3969/j.issn.1672-1292.2018.04.002]
　Zhao Jia,Shen Zhou,Zhou Zhikai,et al.Research on Attitude Algorithm of Unmanned HelicopterBased on Extended Kalman Filter[J].Journal of Nanjing Normal University(Engineering and Technology),2018,18(04):009.[doi:10.3969/j.issn.1672-1292.2018.04.002]
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基于扩展卡尔曼滤波的无人直升机姿态解算
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南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
18卷
期数:
2018年04期
页码:
009
栏目:
电气与电子工程
出版日期:
2018-12-30

文章信息/Info

Title:
Research on Attitude Algorithm of Unmanned HelicopterBased on Extended Kalman Filter
文章编号:
1672-1292(2018)04-0009-04
作者:
赵 佳1; 沈 周2; 周智恺1; 冀 明1; 丁树庆3; 张 军3
(1.南京模拟技术研究所,江苏 南京 210016)(2.南京师范大学南瑞电气与自动化学院,江苏 南京 210023)(3.南京特种设备安全监督检验研究院,江苏 南京 210019)
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)
关键词:
扩展卡尔曼滤波; 姿态解算; 无人直升机
Keywords:
extended Kalman filter(EKF); attitude algorithm; unmanned helicopter
分类号:
V249
DOI:
10.3969/j.issn.1672-1292.2018.04.002
文献标志码:
A
摘要:
针对某型无人直升机飞行过程中振动较大,姿态难以精确获取的问题,采用扩展卡尔曼滤波技术进行解算. 该方法以惯性测量单元的角速度和加速度的比力作为输入,并通过振动数据的融合,实时获取姿态信息,有效降低了无人直升机振动对姿态精度的影响. 仿真和实际飞行验证了该方法的有效性.
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2018-09-07.
基金项目:国家高科技研究发展计划(863计划)课题(2014AA09A511).
通讯联系人:赵佳,工程师,博士,研究方向:无人直升机导航与控制. E-mail:zhaojia0824@163.com
更新日期/Last Update: 2018-12-30