1. 郑州升达经贸管理学院信息工程学院
2. 河南大学教育学部
纸质出版:2024
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李园园, 朱书慧. 基于PSO级联互补滤波的姿态解算方法研究[J]. 传感器与微系统, 2024,(8):25-29.
李园园, 朱书慧. 基于PSO级联互补滤波的姿态解算方法研究[J]. 传感器与微系统, 2024,(8):25-29. DOI: 10.13873/J.1000-9787(2024)08-0025-05.
为了提高无人机(UAV)姿态解算的精度和稳定性,提出了一种基于粒子群优化(PSO)的级联互补滤波(CCF)的姿态解算方法——PCCF。该方法设计了一种新颖的非线性互补滤波器和线性滤波器级联的滤波结构,前者用于校正陀螺仪零偏,后者用于估计姿态角。采用PSO算法自适应地计算级联互补滤波结构的增益参数,避免人工调节或者基于经验的方法容易陷入局部最优解的问题。实验结果表明,相对于传统滤波方法,本文所提出的姿态解算方法能够获得更为精确、可靠的姿态信息,静态时姿态估计误差小于0.1°
动态时姿态估计误差范围为±1°
满足无人机精准导航和稳定飞行对姿态解算的要求。
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