振动对多旋翼飞行器姿态估计的影响分析

摘要

The high-speed rotating propeller could cause the vibration of the rotorcraft body which may bring harmful vibration noise to the accelerometer of MEMS.This could further affect the attitude estimation of the rotorcraft resulting in low accuracy or serious error of attitude estimation.Based on the analyzing of the influence of vibration on the MEMS accelerometer,a method of designing low-pass filter was proposed to reduce the influence of vibration noise on the accelerometer.Experimental results show that the accuracy of attitude data fusion is improved by applying the low-pass filter processing with the original gradient descent method for attitude data fusion.%高速旋转的螺旋桨将使旋翼飞行器的机体产生振动,给MEMS加速度计带来有害的振动噪声,使得旋翼飞行器的姿态估计受到一定的影响,造成姿态估计精度降低,严重的可使姿态估计错误.通过实验分析了机体振动对MEMS加速度计的影响,提出设计低通滤波器的方法降低振动噪声对加速度计的影响.实验结果表明:经过低通滤波器处理后,仍采用原有梯度下降法进行姿态数据融合,姿态数据融合精度有较好的改善.