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个人信息Personal Information
副教授 硕士生导师
招生学科专业：
仪器科学与技术 -- 【招收硕士研究生】 -- 自动化学院
电子信息 -- 【招收硕士研究生】 -- 自动化学院
主要任职：企业技术顾问
学历：南京航空航天大学
学位：工学博士学位
所在单位：自动化学院
联系方式：email：zzhcom@nuaa.edu.cn
电子邮箱：
Adaptive Error Quaternion Unscented Kalman Filter Algorithm for Quadrotor Attitude Calculation
点击次数：
所属单位：自动化学院
发表刊物：Hsi An Chiao Tung Ta Hsueh
摘要：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号：0253-987X
是否译文：否
发表时间：2019-03-10
合写作者：Cui, Peilin,Lü,, Pin,夏品奇,Hu, Bin,胡彬
通讯作者：周翟和