设计了一种旋翼飞行姿态参考系统,采用基于加速度计和陀螺仪的惯性测量组合(IMU)测量飞行姿态数据.采集实测数据并运用Allan方差分析法分析其噪声特性,建立传感器模型；针对旋翼飞行器分别应用经典扩展Kalman滤波(EKF)算法和互补滤波算法进行姿态解算.在详细阐述2种算法的原理与实现的基础上,进行飞行器平台实验验证.研究结果表明2种算法均有效,且互补滤波器相对经典Kal-man滤波器更为简单、有效.%An attitude estimation system for the unmanned helicopter is presented. The system is based on an inertial measurement unit (IMU). By using Allan variance analysis method, the inertial sensor's models are built up. The extended Kalman filtering (EKF) algorithm and the complementary filtering algorithm are drawn into flight attitude determination for a helicopter. The methodologies and implementation of the two algorithms are well elaborated. The experimental tests have verified that both Kalman filtering and complementary filtering can obtain a very effective attitude estimation system, and for an unmanned helicopter,the complementary filter can yield better performance than EKF.
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