基于Runge-Kutta法的小型无人机姿态角算法研究

摘要

为提高小型无人机的姿态角解算精度,降低姿态角算法结构的复杂度,解决小型无人机导航精度不能满足实际需要的矛盾,本文将Runge-Kutta算法应用到小型无人机的姿态角解算中,优化小型无人机的导航算法.首先根据前人的研究成果实现解算姿态角的比卡逼近法,然后引入Runge-Kutta算法,推导出小型无人机姿态角更新的算法格式,并利用文献[5]的轨迹发生器所产生的数据对两种算法进行了仿真,得出了比卡逼近法和Runge-Kutta算法的误差曲线,证明了Runge-Kutta算法的解算精度高于比卡逼近法.%In order to improve the accuracy of attitude angle of the small UAV,reduce the algorithm complexity,and resolve the conflict that the small UAV can't meet the actual need,this article applied Runge-Kutta algorithm to the solving of the small UAVS attitude angle for optimizing the navigation algorithm of small UAV. At first,according to the result of previous studies,the Picard algorithm was implemented to resolve the attitude angle. Then the algorithm format of attitude angle was deduced in detail by introducing Runge-Kutta.Using the data generated by trajectory generator in literature [5] to simulate,the error curves of Picard algorithm and new algorithm based on Runge-Kutta were obtained .The simulation result shows the performance of new algorithm based on Runge-Kutta is better than the Picard algorithm.