Attitude Estimation of the Multi-rotor UAV Based on Simplified Adaptive Kalman Filter Algorithm
A simplified and improved attitude estimation algorithm is put forward,for the problems from the multi-rotor UAV in noise statistical characteristics unknown and time-varying,vibration as the main disturbance source,and high-frequent dynamic changes of the attitude angles.A simplified adaptive Kalman filter algorithm is designed for multi-sensor information fusion.With the attitude angle variance of the real-time dynamic calculation by the gyro and the accelerometer,the system noise variance and the measurement noise variance are estimated,so as to solve the unknown about the noise statistical characteristics,and to prevent the filter divergence.The flight experiment shows that the algorithm can guarantee the accuracy and the stability of the attitude angle estimation.The rootmean-square errors of the pitch and roll angles which are estimated by the simplified algorithm are 2.922° and 1.713°.The accuracy of the algorithm can meet the demands for the autonomous flight of the multi-rotor UAV.
Multi-rotor UAV Attitude estimation Adaptive Kalman filter Quaternion method
Xin Zhang Yue Bai Zhijun Xu Rijun Wang
Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 13003 Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 13003 Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 13003
国际会议
The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)
福州
英文
219-227
2015-05-08（万方平台首次上网日期，不代表论文的发表时间）