Study on attitude measuring system on low-cost unmanned aerial vehicle

YANG Shu-jie; ZENG Qing-shuang; YI Guo-xing

doi:10.13873/j.1000-97872012.02.013

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Study on attitude measuring system on low-cost unmanned aerial vehicle

更新时间：2025-09-11

- Study on attitude measuring system on low-cost unmanned aerial vehicle
- Vol. 31, Issue 2, Pages: 15-18+22(2012)
- 作者机构：
  
  哈尔滨工业大学空间控制与惯性技术研究中心
- 作者简介：
- 基金信息：
- DOI：10.13873/j.1000-97872012.02.013
  CLC： V249;V279
- Published：2012
- 稿件说明：
移动端阅览
[1]杨淑洁,曾庆双,伊国兴.低成本无人机姿态测量系统研究[J].传感器与微系统,2012,31(02):15-18+22.

YANG Shu-jie, ZENG Qing-shuang, YI Guo-xing. Study on attitude measuring system on low-cost unmanned aerial vehicle[J]. 2012, 31(2): 15-18+22.
[1]杨淑洁,曾庆双,伊国兴.低成本无人机姿态测量系统研究[J].传感器与微系统,2012,31(02):15-18+22. DOI： 10.13873/j.1000-97872012.02.013.

YANG Shu-jie, ZENG Qing-shuang, YI Guo-xing. Study on attitude measuring system on low-cost unmanned aerial vehicle[J]. 2012, 31(2): 15-18+22. DOI： 10.13873/j.1000-97872012.02.013.

摘要

由于低成本的MEMS惯性器件本身的限制

单独使用时精度低、稳定性差

在短时间内会产生较大的误差

无法完成长时间中等精度的导航

解决这个问题常用的方法是采用现代信息融合技术来提高姿态测量系统的精度。利用地磁场、重力场这2个姿态参考向量

采用扩展Kalman滤波（EKF）对不同来源姿态数据进行数据融合

实现了低精度MIMU与磁传感器组合航姿系统。仿真和实验证明:3个姿态角的静态误差小于0.5°

航向角的动态误差小于3°

该系统能够保证无人机姿态测量的精度。

Abstract

Low-cost MEMS can experience large positioning errors in very short time due to its own limitations.To overcome the shortcome

modern information fusion technology is developed to increase the attitude measuring precision.The magnetic field and gravity field are used as attitude reference vectors.Extended Kalman Filter（EKF）is introduced to integrated attitude data from different sources.The attitude measuring system is constructed based on MIMU and magnetometer.The simulations and experimental results indicate that the static error of three attitude angles is less than 0.35°

while the dynamic heading error is less than 3°.The measuring system can effectively improve the system precision and stability.

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references

低成本MINS/GPS组合导航中卡尔曼滤波算法的综合应用研究 [J]. 黄丽斌,周百令. 中国惯性技术学报 . 2005(05)

基于ME MS的姿态测量系统 [J]. 朱荣,周兆英. 测控技术 . 2002(10)

用于微机械捷联式航姿系统的四元素算法卡尔曼滤波器(英文) [J]. 高钟毓,牛小骥,郭美凤. Chinese Journal of Aeronautics . 2002(03)

惯性导航[M]. 科学出版社 , 秦永元编著, 2006

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Applications of Magnetoresistive Sensors in Navigation Systems [J] . SAE Transactions . 1997

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