A Sigma-points Kalman Filter for Micro Quadrotor Attitude Estimation

摘要：

Sampling strategy is used by UKF to approximate the nonlinear functions,in which it selects the Sigma points to approximate nonlinear distribution in deterministic sampling pattern.With the problem of low estimation precision and errors easily-caused in EKF linearization,UKF filter method is adopted to estimate the flight state of quadrotor.The Attitude of quadrotor is estimated with its nonlinear state space dynamics model.Simulation results show that,UKF estimation method has higher accuracy and smaller errors than EKF,and furthermore,UKF algorithm is more effective in quadrotor system.

关键词： Sigma-points Kalman filter unscented kalman filter attitudes estimation nolinear systems quadrotor UAV

作者: ZHU Hua-yong YUE Ji-long ZHANG Qing-jie

作者单位: College of Mechatronics Engineering and Automation National University of Defense Technology Changsha,P.R.China

会议类型: 国际会议

会议名称: 2010 4th International Conference on Intelligent Information Techonlogy Application(第四届智能信息技术应用国际学术研讨会 IITA 2010)

会议地点: 秦皇岛

会议语种:英文

页码: 494-497

在线出版日期: 2010-11-05（万方平台首次上网日期，不代表论文的发表时间）