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为了降低小型四旋翼姿态解算的成本和提高姿态输出精度,采用了低成本MPU-9250作为IMU,设计了一种二阶互补滤波姿态求解器.二阶互补滤波算法所产生的计算量不大并且对处理芯片的性能要求不高,从而达到降低成本的目的.通过实际测试,以成品AHRS100作为航姿参考系统,得出姿态角度动态误差在3°以内.实验结果表明:所设计的姿态求解器能较精确地解算出四旋翼的姿态角度,满足了小型四旋翼对输出姿态精度的要求.
In order to reduce the cost of pose solution of small quadrotor and improve the attitude output accuracy, a low-cost MPU-9250 is used as an IMU to design a second-order complementary filter pose solver. The second-order complementary filtering algorithm generates a small amount of computation And the performance of the processing chip is less demanding, so as to reduce the cost.Through the actual test, taking the finished product AHRS100 as the navigation attitude reference system, the dynamic error of the attitude angle is within 3 ° .The experimental results show that the designed attitude solution It solves the attitude of quadrotor more accurately and meets the requirements of small quadrotor on the output attitude accuracy.