基于UKF的微型航姿系统设计及其算法改进
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摘要
针对近年来快速发展的多旋翼飞行器对低成本、高精度的微型航姿系统的迫切需求,设计了一种基于无迹卡尔曼滤波(unscentedKalmanfilter,UKF)算法的微型航姿系统。为抑制应用环境中磁干扰对航向解算的影响,对UKF进行了自适应改进。试验结果表明,系统精度高且环境适应性较强,能满足多旋翼飞行器的使用要求。
To meet urgent need of low-cost and high-precision micro-attitude system for multi-rotor aircraft developing fast in recent years, the paper designs a micro-attitude system based on Unscented Kalman filter(UKF)algorithm. To restrain effect of magnetic interference on heading calculation in application environment, UKF is improved adaptively. Test results show the system has high accuracy and strong environmental adaptability, which can meet requirements of multi-rotor aircraft.
To meet urgent need of low-cost and high-precision micro-attitude system for multi-rotor aircraft developing fast in recent years, the paper designs a micro-attitude system based on Unscented Kalman filter(UKF)algorithm. To restrain effect of magnetic interference on heading calculation in application environment, UKF is improved adaptively. Test results show the system has high accuracy and strong environmental adaptability, which can meet requirements of multi-rotor aircraft.
引文
[1]全伟.惯性/天文/卫星组合导航技术[M].北京:国防工业出版社,2011.QUAN Wei.Inertial/Astronomical/Satellite Integrated Navigation Technology[M].Beijing:National Defense Industry Press,2011.
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[3]陈宇捷.基于MEMS的微小型嵌入式航姿参考系统研究[D].上海:上海交通大学,2009CHEN Yu-jie.Research on Micro Embedded Attitude Reference System Based on MEMS[D].Shanghai:Shanghai Jiaotong University,2009
[4]ZHANG T,LIAO Y.Attitude measure system based on extended Kalman filter for multi-rotors[J].Computers and Electronics in Agriculture,2017,134:19-26
[5]VALENTI R G,DRYANOVSKI I,XIAO J.A linear Kalman filter for MARG orientation estimation using the algebraic quaternion algorithm[J].IEEE Transactionson Instrumentation&Measurement,2016,65(2):467-481
[6]CHU Z,LIN X,GAO K,et al.Error-separation method for the calibration of magnetic compass[J].Sensors&Actuators APhysical,2016,250:195-201
[7]张晓兵.独轮机器人姿态检测信息融合算法的研究[D].哈尔滨:哈尔滨工业大学,2015.ZHANG Xiao-bing.Research on Information Fusion Algorithms for Attitude Detection of Single Wheeled Robots[D].Harbin:Harbin University of Technology,2015.
[8]宋文尧.卡尔曼滤波[M].北京:科学出版社,1991.SONG Wen-yao.Kalman filter[M].Beijing:Science Press,1991.
[9]黄小平,王岩.卡尔曼滤波原理及应用[M].北京:电子工业出版社,2015:31-75HUANG Xiao-ping,WANG Yan.Kalman Filtering Principle and Application[M].Beijing:Electronic Industry Press,2015:31-75
[10]潘颜楠,杨鹏.北斗导航系统应用前景分析[J].电子元器件与信息技术,2019(01):42-44.PAN Yan-nan,YANG Peng.Application Prospect Analysis of Beidou Navigation System[J].Electronic Components and Information Technology,2019(01):42-44.
[2]陈永冰,钟斌.惯性导航原理[M].北京:国防工业出版社,2007.CHEN Yong-bing,ZHONG Bin.Principle of Inertial Navigation[M].Beijing:National Defense Industry Press,2007.
[3]陈宇捷.基于MEMS的微小型嵌入式航姿参考系统研究[D].上海:上海交通大学,2009CHEN Yu-jie.Research on Micro Embedded Attitude Reference System Based on MEMS[D].Shanghai:Shanghai Jiaotong University,2009
[4]ZHANG T,LIAO Y.Attitude measure system based on extended Kalman filter for multi-rotors[J].Computers and Electronics in Agriculture,2017,134:19-26
[5]VALENTI R G,DRYANOVSKI I,XIAO J.A linear Kalman filter for MARG orientation estimation using the algebraic quaternion algorithm[J].IEEE Transactionson Instrumentation&Measurement,2016,65(2):467-481
[6]CHU Z,LIN X,GAO K,et al.Error-separation method for the calibration of magnetic compass[J].Sensors&Actuators APhysical,2016,250:195-201
[7]张晓兵.独轮机器人姿态检测信息融合算法的研究[D].哈尔滨:哈尔滨工业大学,2015.ZHANG Xiao-bing.Research on Information Fusion Algorithms for Attitude Detection of Single Wheeled Robots[D].Harbin:Harbin University of Technology,2015.
[8]宋文尧.卡尔曼滤波[M].北京:科学出版社,1991.SONG Wen-yao.Kalman filter[M].Beijing:Science Press,1991.
[9]黄小平,王岩.卡尔曼滤波原理及应用[M].北京:电子工业出版社,2015:31-75HUANG Xiao-ping,WANG Yan.Kalman Filtering Principle and Application[M].Beijing:Electronic Industry Press,2015:31-75
[10]潘颜楠,杨鹏.北斗导航系统应用前景分析[J].电子元器件与信息技术,2019(01):42-44.PAN Yan-nan,YANG Peng.Application Prospect Analysis of Beidou Navigation System[J].Electronic Components and Information Technology,2019(01):42-44.