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针对四轴飞行器的姿态解算出现的姿态角数据漂移问题,提出一种基于Mahony滤波和互补滤波相结合的混合滤波算法,将传感器采集到的加速度、角速度以及磁场强度数据进行融合,利用加速度计和磁力计的向量偏差来对姿态解算过程中陀螺仪产生的积分累计误差进行修正。最后,建立姿态解算测试平台对混合滤波算法进行实验验证。实验结果表明,采用混合滤波算法的一次迭代滤波所需的平均用时为3.826 ms,比其他算法的平均用时短,混合滤波能有效地修正陀螺仪的积分累计误差,在降低运算复杂度的同时提高姿态解算的精度。
In order to solve the problem of attitude data drift of attitude of quadrocopter, a hybrid filtering algorithm based on Mahony filter and complementary filter is proposed. The accelerometer, angular velocity and magnetic field data collected by the sensor are fused. And the vector deviation of the magnetometer to correct the integral error of the gyroscope in the attitude solving process. Finally, a gesture test platform is established to verify the hybrid filtering algorithm. The experimental results show that the average time required for the iterative filtering using the hybrid filtering algorithm is 3.826 ms, which is shorter than the average time of other algorithms. The hybrid filtering can effectively correct the integral error of the gyroscope while reducing the computational complexity and improving Gesture solver accuracy.