基于修正EKF的微小型飞行器姿态估计

摘要

分析了常用飞行姿态估计方法在微小型飞行器上应用的局限性,针对基于微机电系统(MEMS)惯性器件的姿态测量方案,构建了以MEMS陀螺仪姿态矩阵解算为状态更新、以MEMS加速度计重力矢量解算为观测更新的扩展卡尔曼滤波器(EKF),推导了相应的卡尔曼滤波方程.为了提高该滤波器抵抗机动加速度干扰的能力,设计了基于M估计的新息修正方法,该方法能有效地抑制载体阶跃加(减)速对姿态估计的影响.最后通过仿真和样机试验对上述算法进行了验证.%This article analyzes the limitations of the apphcation of the application of common flight attitude estimate methods in micro aerial vehicles, and aiming at the attitude measurement based on the MEMS inertial sensors, deduces and constructs an extended Kalman filter (EKF) with the attitude matrix solving by the MEMS gyroscope as the state update and the gravity vector solving by the MEMS accelerometer as the observation update. Subsequently, an innovation amendment method based on the M estimate is designed to improve the ability of Kalman filter to resist the interference from the carrier maneuvering acceleration. Finally, the article gives the verification of the validity of the algorithm by simulation and prototype testing.