Attitude estimation of a quad-rotor aircraft based on complementary filter

LIANG Yan-de1; CHENG Min1; HE Fu-ben1; LI Hang2

doi:10.13873/j.1000-97872011.11.009

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Attitude estimation of a quad-rotor aircraft based on complementary filter

更新时间：2025-09-11

- Attitude estimation of a quad-rotor aircraft based on complementary filter
- Vol. 30, Issue 11, Pages: 56-58+61(2011)
- 作者机构：
  
  1. 大连理工大学机械工程学院
  2. 大连理工大学创新实验学院
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872011.11.009
  CLC： V249.1
- Published：2011
- 稿件说明：
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[1]梁延德,程敏,何福本,李航.基于互补滤波器的四旋翼飞行器姿态解算[J].传感器与微系统,2011,30(11):56-58+61.

LIANG Yan-de1, CHENG Min1, HE Fu-ben1, et al. Attitude estimation of a quad-rotor aircraft based on complementary filter[J]. 2011, 30(11): 56-58+61.
[1]梁延德,程敏,何福本,李航.基于互补滤波器的四旋翼飞行器姿态解算[J].传感器与微系统,2011,30(11):56-58+61. DOI： 10.13873/j.1000-97872011.11.009.

LIANG Yan-de1, CHENG Min1, HE Fu-ben1, et al. Attitude estimation of a quad-rotor aircraft based on complementary filter[J]. 2011, 30(11): 56-58+61. DOI： 10.13873/j.1000-97872011.11.009.

摘要

针对小型四旋翼飞行器姿态解算这一基本问题

详细分析了姿态解算的过程

提出了其中的难点问题。应用低成本捷联惯性测量单元

设计了一种基于互补滤波器算法的姿态求解器。经过实验验证表明:与目前常用的卡尔曼滤波算法相比

采用互补滤波器算法的求解器能显著降低对处理器速度和精度的要求

有效融合了捷联惯性测量单元的传感器数据

实现了小型四旋翼飞行器的高精度姿态解算。

Abstract

Aiming at the basic problem of attitude estimation of a small quad-rotor

a detailed analysis of the attitude estimation process is done and the difficult issues during this process are proposed.A solver used to realize attitude estimation is designed based on complementary filter algorithm

using the low-cost inertial measurement unit.Experimental results show that the solver designed based on complementary filter algorithm can significantly reduce the requirements of precision and speed for the processor

effectively fuse sensor data and realize high precision attitude estimation.

关键词

Keywords

references

基于低成本IMU的捷联航姿系统软件设计与实现 [J]. 王玲玲,富立,陈三. 中国惯性技术学报 . 2009(04)

基于卡尔曼滤波器的数字式捷联航姿系统算法设计 [J]. 汪芳,朱少华,雷宏杰. 中国惯性技术学报 . 2008(02)

微小型四旋翼飞行器的研究现状与关键技术 [J]. 聂博文,马宏绪,王剑,王建文. 电光与控制 . 2007(06)

捷联惯性导航技术[M]. 国防工业出版社 , 张天光等, 2007

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