Application of two-factor adaptive filtering algorithm in quadrotor

XIE Xi-hua; TANG Shun

doi:10.13873/J.1000-9787(2016)06-0146-03

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Application of two-factor adaptive filtering algorithm in quadrotor

更新时间：2025-09-11

- Application of two-factor adaptive filtering algorithm in quadrotor
- Vol. 35, Issue 6, Pages: 146-148(2016)
- 作者机构：
  
  1. 中南大学高性能复杂制造国家重点实验室
  2. 山河智能装备股份有限公司
  3. 南方粮油作物协同创新中心
- 作者简介：
- 基金信息：
- DOI：10.13873/J.1000-9787(2016)06-0146-03
  CLC： TN713;V279
- Published：2016
- 稿件说明：
移动端阅览
[1]谢习华,唐顺.双因子自适应滤波算法在四旋翼上的应用[J].传感器与微系统,2016,35(06):146-148.

XIE Xi-hua, TANG Shun. Application of two-factor adaptive filtering algorithm in quadrotor[J]. 2016, 35(6): 146-148.
[1]谢习华,唐顺.双因子自适应滤波算法在四旋翼上的应用[J].传感器与微系统,2016,35(06):146-148. DOI： 10.13873/J.1000-9787(2016)06-0146-03.

XIE Xi-hua, TANG Shun. Application of two-factor adaptive filtering algorithm in quadrotor[J]. 2016, 35(6): 146-148. DOI： 10.13873/J.1000-9787(2016)06-0146-03.

摘要

针对动力学模型的不精准和观测存在误差问题

建立四旋翼的动力学模型和双因子自适应滤波模型

采用两个因子分别调节动力学模型和观测模型对滤波的影响

通过仿真

对比卡尔曼、扩展卡尔曼滤波算法。结果表明:双因子自适应滤波算法在误差与稳定性方面均有所提高。

Abstract

Aiming at problems of inaccurate dynamic model and observation error

quadrotor dynamic model and two-factor adaptive filtering model are set up

using two factors seperately adjust effects of dynamic and observation model on filtering

through simulation

compared with Kalman filtering

extended Kalman filtering algorithm.Results show that two-factor adaptive filtering algorithm are improved in error and stability.

关键词

Keywords

references

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自适应数字滤波技术在光纤陀螺SINS中的应用 [J]. 于飞,阮双双. 传感器与微系统 . 2014(04)

基于Kalman滤波算法的姿态传感器信号融合技术研究 [J]. 陈航科,张东升,盛晓超,王凯. 传感器与微系统 . 2013(12)

自适应UKF在GNSS/INS紧组合导航中的应用研究 [J]. 韩厚增,王坚. 大地测量与地球动力学 . 2013(06)

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基于模糊自适应卡尔曼滤波的INS/GPS组合导航系统算法研究 [J]. 徐田来,游文虎,崔平远. 宇航学报 . 2005(05)

Kalman滤波理论及其在导航系统中的应用[M]. 科学出版社 , 付梦印等编著, 2003

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