[1]张煌军,徐雪松*,张文清,等.基于SCKF的4旋翼无人机的姿态估计[J].江西师范大学学报(自然科学版),2019,(02):154-159.[doi:10.16357/j.cnki.issn1000-5862.2019.02.07]
　ZHANG Huangjun,XU Xuesong*,ZHANG Wenqing,et al.The Attitude Measurement Based on SCKF for Quadrotor UAV[J].Journal of Jiangxi Normal University:Natural Science Edition,2019,(02):154-159.[doi:10.16357/j.cnki.issn1000-5862.2019.02.07]
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基于SCKF的4旋翼无人机的姿态估计()
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《江西师范大学学报》（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2019年02期
页码:
154-159
栏目:
信息科学与技术
出版日期:
2019-04-10

文章信息/Info

Title:
The Attitude Measurement Based on SCKF for Quadrotor UAV
文章编号:
1000-5862(2019)02-0154-06
作者:
张煌军; 徐雪松*; 张文清; 刘 瑞
华东交通大学电气与自动化工程学院,江西 南昌 330013
Author(s):
ZHANG Huangjun; XU Xuesong*; ZHANG Wenqing; LIU Rui
School of Electrical and Automation Engineering,East China Jiaotong University,Nanchang Jiangxi 330013,China
关键词:
平方根容积卡尔曼滤波;  四旋翼无人机;  姿态估计
Keywords:
square-root cubature Kalman filter;  quadrotor UAV;  attitude measurement
分类号:
TP 273
DOI:
10.16357/j.cnki.issn1000-5862.2019.02.07
文献标志码:
A
摘要:
获得准确的姿态角对于无人机的控制来说是十分重要的.考虑到平方根容积卡尔曼滤波算法(square-root cubature Kalman filter,SCKF),既能够克服扩展卡尔曼滤波(EKF)方法因线性化带来的误差,具有更好的非线性滤波功能,又在传统容积卡尔曼滤波方法中加入了平方根技术,从而能够有效提高数值计算的稳定性,并降低了算法的复杂度.该文将SCKF算法应用于4旋翼无人机的姿态估计中,提出了一种新的4旋翼无人机的姿态估计方法,并进行了仿真实验.实验结果表明:该方法相比传统的EKF方法滤波精度更高,相比较传统的容积卡尔曼滤波(CKF)、无迹卡尔曼滤波(UKF)方法计算时间更短.
Abstract:
It is very important to get the accurate attitude angle for the control of unmanned aerial vehicle(UAV).Considering the square-root cubature Kalman filter(SCKF),which can overcome the errors caused by the extended Kalman filter(EKF)due to linearization,and has better nonlinear filtering function.Also,the square root technique is added in the traditional cubature Kalman filtering method,which can effectively improve the stability of numerical calculation and reduce the complexity of the algorithm.So that in this paper,SCKF is applied to attitude estimation of quadrotor UAV,a new attitude estimation method for quadrotor UAV is proposed and simulated.The experimental results show that this method has higher filtering precision than the traditional EKF method.Compared with traditional cubature Kalman filtering(CKF)and unscented Kalman filtering(UKF),the computation time of this method is shorter.

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相似文献/References:

[1]钟海鑫,陆 倩,丘森辉,等.基于ADRC的四旋翼无人机姿态控制研究[J].江西师范大学学报(自然科学版),2017,(01):67.
　ZHONG Haixin,LU Qian,QIU Senhui,et al.The Research on Attitude Stability Control of Quadrotor Unmanned Aerial Vehicle Based on ADRC[J].Journal of Jiangxi Normal University:Natural Science Edition,2017,(02):67.

备注/Memo

备注/Memo:
收稿日期:2018-08-11 基金项目:国家自然科学基金(61763012)资助项目. 通信作者:徐雪松(1970-),男,江西鄱阳人,教授,博士,主要从事无人机导航及控制研究.E-mail:cedarxu@163.com
更新日期/Last Update: 2019-04-10