Affiliation of Author(s):自动化学院
Journal:Hsi An Chiao Tung Ta Hsueh
Abstract:In view of the attitude calculation of a small quadrotor, the inertial device is easily affected by the acceleration of non-gravity during taking-off and landing. A new attitude calculation algorithm of quadrotor with adaptive error quaternion unscented Kalman filter is proposed. Following the traditional unscented Kalman filter algorithm, this algorithm combines the gyroscope drift error model and chooses the error quaternion to construct the state equation of the unscented Kalman filter. The measurement equation of the unscented Kalman filter is constructed by using the output signal of accelerometer and magnetometer. Adjusting the noise covariance matrix adaptively, the influence of non-gravity acceleration on attitude calculation is reduced. Experiment shows that when the quadrotor has non gravity acceleration, the algorithm can effectively reduce the influence of non-gravity acceleration shadow on the attitude calculation. © 2019, Editorial Office of Journal of Xi'an Jiaotong University. All right reserved.
ISSN No.:0253-987X
Translation or Not:no
Date of Publication:2019-03-10
Co-author:Cui, Peilin,L&uuml,, Pin,Xia Pinqi,Hu, Bin,hb
Correspondence Author:zdh
Date of Publication:2019-03-10