Quadrotor aircraft attitude estimation and control based on Kalman filter
Quadrotor aircraft attitude estimation and control based on Kalman filter
复制标题
基于卡尔曼滤波器的四旋翼飞行器姿态估计与控制
DOI：
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发表时间：
2012-07
期刊：
影响因子：
--
通讯作者：
Yang, Ying
中科院分区：
文献类型：
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作者：
Wang, Shaohua;Yang, Ying
四旋翼无人飞行器由于其简单的空气动力学和复杂的动力学特性，在控制领域受到越来越多的关注。在这项工作中，一个四旋翼系统已建成与商业现成的产品。惯性测量组合的传感器是微机电系统，其误差可以用自回归模型进行分析。提出了一种新的基于卡尔曼滤波的姿态估计方法，该方法将短周期和长周期的数据融合任务分开进行。所提出的姿态传感方法已通过实验系统进行了验证。此外，双增益比例微分控制器已被设计用于调节姿态动力学。在一些测试案例中取得了令人满意的控制性能。
Quadrotor, as one type of unmanned aircraft vehicles, has gained increasing interests in control area, partially due to its simple aerodynamics and complex dynamics. In this work, a quadrotor system has been constructed with commercial off-the-shelf products. The sensors of inertial measurement unit are micro-electro-mechanical system, whose errors can be analyzed in an auto regressive model. A new attitude estimation scheme based on Kalman filter is proposed, which conducts separate data fusion tasks in a short period and a long period. The proposed attitude sensing method has been validated using the experimental system. In addition, a double-gain proportional differential controller has been designed to regulate attitude dynamics. A satisfactory control performance has been achieved in some test cases.
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DOI：
10.1109/iros.2009.5354730
发表时间：
2009-10
期刊：
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
F. Kendoul;K. Nonami
通讯作者：
F. Kendoul;K. Nonami
影响因子：
4.6
作者：
Arnold, M;Miltner, WHR;Braun, C
通讯作者：
Braun, C
DOI：
10.1109/icma.2009.5246601
发表时间：
2009-09
期刊：
2009 International Conference on Mechatronics and Automation
影响因子：
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作者：
Huaming Qian;Q. Xia;Bo Jiang;Chong Wang
通讯作者：
Huaming Qian;Q. Xia;Bo Jiang;Chong Wang
DOI：
10.1109/iros.2008.4651238
发表时间：
2008-10
期刊：
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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作者：
M. Bouchoucha;M. Tadjine;Abdelhamid Tayebi;P. Müllhaupt
通讯作者：
M. Bouchoucha;M. Tadjine;Abdelhamid Tayebi;P. Müllhaupt