Application of extended Kalman filter and complementary filter in attitude estimation

GUO Xiao-hong1; YANG Zhong1; CHEN Zhe2; YANG Cheng-shun1; GONG Hua-jun1

doi:10.13873/j.1000-97872011.11.008

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Application of extended Kalman filter and complementary filter in attitude estimation

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- Application of extended Kalman filter and complementary filter in attitude estimation
- Vol. 30, Issue 11, Pages: 149-152(2011)
- 作者机构：
  
  1. 南京航空航天大学自动化学院
  2. 南京航空航天大学无人机研究院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.11.008
  CLC： V249.1
- Published：2011
- 稿件说明：
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[1]郭晓鸿,杨忠,陈喆,杨成顺,龚华军.EKF和互补滤波器在飞行姿态确定中的应用[J].传感器与微系统,2011,30(11):149-152.

GUO Xiao-hong1, YANG Zhong1, CHEN Zhe2, et al. Application of extended Kalman filter and complementary filter in attitude estimation[J]. 2011, 30(11): 149-152.
[1]郭晓鸿,杨忠,陈喆,杨成顺,龚华军.EKF和互补滤波器在飞行姿态确定中的应用[J].传感器与微系统,2011,30(11):149-152. DOI： 10.13873/j.1000-97872011.11.008.

GUO Xiao-hong1, YANG Zhong1, CHEN Zhe2, et al. Application of extended Kalman filter and complementary filter in attitude estimation[J]. 2011, 30(11): 149-152. DOI： 10.13873/j.1000-97872011.11.008.

摘要

设计了一种旋翼飞行姿态参考系统

采用基于加速度计和陀螺仪的惯性测量组合（IMU）测量飞行姿态数据。采集实测数据并运用Allan方差分析法分析其噪声特性

建立传感器模型;针对旋翼飞行器分别应用经典扩展Kalman滤波（EKF）算法和互补滤波算法进行姿态解算。在详细阐述2种算法的原理与实现的基础上

进行飞行器平台实验验证。研究结果表明2种算法均有效

且互补滤波器相对经典Kal-man滤波器更为简单、有效。

Abstract

An attitude estimation system for the unmanned helicopter is presented.The system is based on an inertial measurement unit（IMU）.By using Allan variance analysis method

the inertial sensor’s models are built up.The extended Kalman filtering（EKF） algorithm and the complementary filtering algorithm are drawn into flight attitude determination for a helicopter.The methodologies and implementation of the two algorithms are well elaborated.The experimental tests have verified that both Kalman filtering and complementary filtering can obtain a very effective attitude estimation system

and for an unmanned helicopter

the complementary filter can yield better performance than EKF.

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references

基于IMEMS传感器的汽车运动姿态测量系统研究 [J]. 刘军,何国国,岳兴连,罗石,吴硕开. 传感器与微系统 . 2009(11)

微小型无人直升机飞控平台与姿态融合算法研究 [D]. 徐玉. 浙江大学 2008

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