摘要
主要对基于四旋翼飞行器的位姿估计算法进行研究,设计了基于惯性导航系统和全球定位系统(GPS)的几何扩展卡尔曼滤波算法。首先采用旋转矩阵表示姿态,并构造了相应的旋转矩阵误差,同时将陀螺仪和加速度计的漂移通过几何变换表示在同一坐标系下求差以获得漂移误差。在此基础上,推导了几何扩展卡尔曼滤波算法。最后,通过MATLAB仿真验证所设计算法的性能,仿真实验表明,所提出的算法可实现四旋翼飞行器的位姿估计。
This paper focuses on the pose estimation algorithm of quadrotor aircraft, and a geometric extended Kalman filter algorithm based on inertial navigation system and Global Positioning System is designed. Firstly, the rotation matrix is used to represent the attitude, and the corresponding rotation matrix error is constructed. Meanwhile, the drifts of the gyroscope and the accelerometer are represented by geometric transformation and the differences are calculated in the same coordinate system to obtain the drift errors. On this basis, the Geometric Extended Kalman Filtering algorithm is deduced. Finally, the performance of the designed algorithm is verified by MATLAB simulation. Simulation experiments show that the proposed algorithm can realize the pose estimation of the quadrotor aircraft.
作者
成利梅
崔晋龙
CHENG Li-mei;CUI Jin-long(Taiyuan University of Science and Technology,Taiyuan 030024,China;State Grid Shanxi Electricity Transmission&Transformation Engineering Co.,Ltd.,Taiyuan 033000,China)
出处
《机械工程与自动化》
2022年第5期10-13,共4页
Mechanical Engineering & Automation
基金
太原科技大学校级教改项目(2020059)。
关键词
位姿估计
几何扩展卡尔曼滤波
四旋翼
pose estimation
geometric extended Kalman filter
quadrotor
