用于四旋翼飞行器姿态估计的新息扩展Kalman滤波

摘要

In the environment of strong disturbance and high dynamic change of attitude angles, the accuracy of attitude angles estimated by Extend Kalman Filter algorithm is low, and it may affect the stability of the four-rotor aircraft flight control system. To solve this problem, an Innovation-Based Extended Kalman Filter is proposed, the innovation sequence is used in the noise covariance of the process and the measurement estimation. The simulation results show that the improved extended Kalman filter algorithm is effective at improving the accuracy of attitude estimation and the stability of the four-rotor aircraft flight control system.%在扰动强大,姿态角高动态变化的环境中,由于过程噪声和量测噪声统计特性的不确定性,使得常用的姿态角估计算法扩展Kalman滤波的精确度低,从而影响四旋翼飞行器飞行控制系统的稳定性.针对这一问题,使用一种基于新息的扩展Kalman滤波,用新息方差估计方法分别对过程噪声和量测噪声的协方差进行调整,运用于四旋翼飞行器的姿态角数据估计中.实验结果表明:改进后的新息扩展Kalman滤波算法使估算出的姿态角更加精确,使飞行控制系统更加稳定.