多旋翼飞行器姿态检测与控制系统的实现
首发时间:2012-02-23
摘要:针对在多旋翼飞行器姿检测与控制系统中传感器数据存在噪声干扰和测量误差, 以致单独使用陀螺仪与加速度计不能得到最优姿态角度的问题, 建立陀螺仪和加速度计误差的数学模型, 采用卡尔曼滤波方法, 实现数据融合, 有效地提高了姿态检测系统的检测精度与控制精度. 该方法被成功应用于四旋翼飞行器姿态检测与控制系统中, 验证了其良好的噪声抑制能力, 提高了飞行器对环境变化的适应性。
关键词: 卡尔曼滤波;姿态角; 系统模型
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Multi-rotor aircraft attitude detection and control system implementation
Abstract:Can not be optimal attitude angle for sensor data exists in the multi-rotor aircraft attitude angle detection system noise and measurement error, resulting in a separate use of gyroscopes and accelerometers, gyroscopes and accelerometer error model, using the Kalmanfiltering method, data fusion, effectively improving the detection accuracy and the control precision of the gesture detection system. the method was successfully applied to the four-rotor aircraft attitude detection and control system to verify its good noise rejection capability, improve the systemthe adaptability of the environment changes.
Keywords: Kalman filter attitude angle system model
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