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为提高小型无人机的姿态角解算精度,降低姿态角算法结构的复杂度,解决小型无人机导航精度不能满足实际需要的矛盾,本文将Runge-Kutta算法应用到小型无人机的姿态角解算中,优化小型无人机的导航算法。首先根据前人的研究成果实现解算姿态角的比卡逼近法,然后引入Runge-Kutta算法,推导出小型无人机姿态角更新的算法格式,并利用文献[5]的轨迹发生器所产生的数据对两种算法进行了仿真,得出了比卡逼近法和Runge-Kutta算法的误差曲线,证明了RungeKutta算法的解算精度高于比卡逼近法。
In order to improve the attitude accuracy of the small UAV, reduce the complexity of the structure of the attitude angle algorithm and solve the contradiction between small UAV navigation accuracy can not meet the actual needs, this paper applies Runge-Kutta algorithm to the attitude of small UAV In the solution of the angle, the navigation algorithm of small UAV is optimized. First of all, based on the previous research results, we implement a bi-card approximation method to solve the attitude angle, and then introduce Runge-Kutta algorithm to deduce the algorithm format of attitude update for small UAVs. The trajectory generator [5] The simulation results show that RungeKutta algorithm has better solution accuracy than that of the bi-card approximation method.