基于互补滤波器的四旋翼飞行器姿态解算

摘要

针对小型四旋翼飞行器姿态解算这一基本问题,详细分析了姿态解算的过程,提出了其中的难点问题.应用低成本捷联惯性测量单元,设计了一种基于互补滤波器算法的姿态求解器.经过实验验证表明:与目前常用的卡尔曼滤波算法相比,采用互补滤波器算法的求解器能显著降低对处理器速度和精度的要求,有效融合了捷联惯性测量单元的传感器数据,实现了小型四旋翼飞行器的高精度姿态解算.%Aiming at the basic problem of attitude estimation of a small quad-rotor, a detailed analysis of the attitude estimation process is done and the difficult issues during this process are proposed. A solver used to realize attitude estimation is designed based on complementary filter algorithm, using the low-cost inertial measurement unit. Experimental results show that the solver designed based on complementary filter algorithm can significantly reduce the requirements of precision and speed for the processor, effectively fuse sensor data and realize high precision attitude estimation.