CN107063262A - A kind of complementary filter method resolved for UAV Attitude - Google Patents
A kind of complementary filter method resolved for UAV Attitude Download PDFInfo
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- CN107063262A CN107063262A CN201710225552.6A CN201710225552A CN107063262A CN 107063262 A CN107063262 A CN 107063262A CN 201710225552 A CN201710225552 A CN 201710225552A CN 107063262 A CN107063262 A CN 107063262A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a kind of complementary filter method resolved for UAV Attitude, including setting initial attitude quaternary number and gyroscopic drift estimate；Output data to gyroscope and accelerometer carries out high-pass filtering, LPF respectively, and obtained attitude data is converted into attitude angle after filtering；According to the resolving attitude angle of accelerometer, obtain one and refer to attitude quaternion；Calculate the quaternary number margin of error；The calculating of a filtering cycle is completed, the steps such as the quaternary number after complementary filter, and corresponding UAV Attitude angle are obtained；The present invention can improve the resolving accuracy at UAV Attitude angle.
Description
Technical field
The invention belongs to unmanned aerial vehicle (UAV) control technical field, and in particular to a kind of complementary filter resolved for UAV Attitude
Method.
Technical background
UAV (Unmanned Aerial Vehicle, UAV) and abbreviation unmanned plane are a kind of using wireless
The not manned aircraft that electric Remote and airborne cyclelog are manipulated.Its come across earliest in the 1920s, at that time by
For as the target drone in military training, hereafter continuing to develop by last 100 yearses, to be increasingly turned to various many in investigation, attack etc.
Purposes field.Due to its have that cost is low, survival ability strong, no one was injured for manned aircraft risk, user
Just the advantages of, so can militarily play a significant role incessantly, also had broad application prospects in civil area.
Attitude measurement is the premise that unmanned plane realizes gesture stability, is the indivisible important composition portion of navigation system
Point, directly affect the survival ability of unmanned plane.With the development of micro-mechanical inertia technology, micromechanical gyro, accelerometer are utilized
And the inexpensive aviation attitude system of magnetometer construction microminiature has turned into one of study hotspot in recent years.
In traditional UAV Attitude control, attitude angle can be drawn by gyroscope integration, can also be passed by acceleration
Sensor measures vector decomposition coordinate of the acceleration of gravity on the axle of carrier system three and is derived from.Wherein gyroscope resolves attitude angle height
Frequency dynamic response characteristic is good, and its output can respond rapidly to the change of attitude angle；Without high-frequency noise interference, output valve is smooth；
The output of gyroscope is not disturbed by external acceleration, remains to maintain the defeated of stabilization in the case where carrier is in strenuous vibration
Go out.But it also has some defects：Zero point such as gyroscope can produce drift with the change of temperature and other external environmental factors
Move, to produce resolution error after cumulative errors, long-play to the integration of gyroscope output valve larger.And utilize accelerometer
Resolve attitude angle low frequency characteristic good, Static output is stable, does not drift about and accumulated error；Attitude algorithm amount of calculation is small, is not having
When having external acceleration in the case of (only acceleration of gravity), accurate transient posture angular data can be drawn rapidly.It has
There is following defect：Have high-frequency noise interference, High Frequency Dynamic it is poor, its output can not respond rapidly to the quick change of attitude angle
Change, easily disturbed by external acceleration, if there is the acceleration in addition to acceleration of gravity, will be unable to draw accurately
Attitude angle.
The content of the invention
In order to solve the above-mentioned technical problem, the invention provides a kind of complementary filter side resolved for UAV Attitude
Method.
The technical solution adopted in the present invention is：A kind of complementary filter method resolved for UAV Attitude, its feature
It is, comprises the following steps：
Step 1：Set initial attitude quaternary number and gyroscopic drift estimate；
Step 2：Output data to gyroscope and accelerometer carries out high-pass filtering, LPF respectively, will after filtering
Obtained attitude data is converted to attitude angle；
Step 3：According to the resolving attitude angle of accelerometer, obtain one and refer to attitude quaternion；
Step 4：Calculate the quaternary number margin of error；
Step 5：The calculating of a filtering cycle is completed, the quaternary number after complementary filter, and corresponding unmanned plane is obtained
Attitude angle.
Compared with existing method and technology, the beneficial effects of the invention are as follows：Using the method for the present invention, unmanned plane can be made
The resolving accuracy of attitude angle is improved；During actual test, solving of attitude value error is within 0.5 °, with traditional adaptive filter
Ripple algorithm, average filter algorithm, the calculation method such as Kalman filtering algorithm is compared, and amount of calculation is reduced, and under equal calculating speed
Precision improves about 50%.
Brief description of the drawings
Fig. 1 is this structure chart of the embodiment of the present invention.
Embodiment
Understand for the ease of those of ordinary skill in the art and implement the present invention, below in conjunction with the accompanying drawings and embodiment is to this hair
It is bright to be described in further detail, it will be appreciated that implementation example described herein is merely to illustrate and explain the present invention, not
For limiting the present invention.
See Fig. 1, a kind of complementary filter method resolved for UAV Attitude that the present invention is provided, including following step
Suddenly：
Step 1, initial attitude quaternary number is setWith gyroscopic drift estimate
Step 2, high-pass filtering, LPF are carried out respectively to gyroscope and accelerometer output, will be obtained after filtering
Attitude data is converted to attitude angle.
Step 3, according to the resolving attitude angle of accelerometer, one is obtained with reference to attitude quaternion Q；
Q=[q0q1q2q3]T；
Wherein, relation is between quaternary number and attitude angle：
θ=arcsin (2 (q0q1+q2q3))
Wherein q is the scalar component of quaternary number, q=[q1 q2 q3]TFor the vector section of quaternary number, q0、q1、q2、q3All it is
Unknown number, three attitude angles θ, γ, ψ are obtained by sensor, and q is gone out by equation solution0、q1、q2、q3Value.
Step 4, the quaternary number margin of error is calculated：Obtain
Wherein, q=[q1q2q3]T, quaternary number is rotatable, above symbol plus ^ represents a kind of rotation transformation, and matrix
Wave is added to represent corresponding augmented matrix on symbol.
Step 5, it will obtain in step 3Substitute into following formula：
Wherein,ΩgExported for the axle of gyroscope three,For the estimated gyroscopic drift of algorithm, kp＞ 0, ki＞
0；
Solve the differential equationThe calculating of a filtering cycle is completed, the quaternary after complementary filter is obtained
Number, and corresponding UAV Attitude angle.
The method of the present invention：
(1) attitude transducer on unmanned plane obtains current pose information, wherein attitude transducer include gyroscope and
Accelerometer；
(2) before data fusion, to gyroscope resolving value carry out high-pass filtering, with eliminate gyroscope output in contain make an uproar
Sound, suppresses gyroscopic drift；
(3) before data fusion, LPF is carried out to accelerometer resolving value, noise jamming and sigma delta is filtered out；
(4) preferably, low frequency characteristic is poor, and accelerates for high frequency characteristics when being resolved using gyroscope to UAV Attitude angle
Degree meter is then that low frequency characteristic is preferable, and high frequency characteristics is poor.Therefore, after to the two progress data fusion, unmanned plane appearance can be made
It is more accurate that state is resolved；
(5) UAV Attitude is represented using quaternary number, defines navigation coordinate and be tied to the attitude quaternion of body axis system for Q
=q0q1q2q3。
Quaternary number used of the invention is the quaternary number that the modulus value standardized is 1, and in each filtering cycle, all to resolving
Obtained quaternary number carries out standardization processing, and processing method is as follows：
It should be appreciated that the part that this specification is not elaborated belongs to prior art.
It should be appreciated that the above-mentioned description for preferred embodiment is more detailed, therefore it can not be considered to this
The limitation of invention patent protection scope, one of ordinary skill in the art is not departing from power of the present invention under the enlightenment of the present invention
Profit is required under protected ambit, can also be made replacement or be deformed, each fall within protection scope of the present invention, this hair
It is bright scope is claimed to be determined by the appended claims.
Claims (6)
1. a kind of complementary filter method resolved for UAV Attitude, it is characterised in that comprise the following steps：
Step 1：Set initial attitude quaternary number and gyroscopic drift estimate；
Step 2：Output data to gyroscope and accelerometer carries out high-pass filtering, LPF respectively, will be obtained after filtering
Attitude data be converted to attitude angle；
Step 3：According to the resolving attitude angle of accelerometer, obtain one and refer to attitude quaternion；
Step 4：Calculate the quaternary number margin of error；
Step 5：The calculating of a filtering cycle is completed, the quaternary number after complementary filter, and corresponding UAV Attitude is obtained
Angle.
2. the complementary filter method according to claim 1 resolved for UAV Attitude, it is characterised in that：In step 1,
Initial attitude quaternary numberGyroscopic drift estimate is
3. the complementary filter method according to claim 1 resolved for UAV Attitude, it is characterised in that in step 3,
It is with reference to attitude quaternion Q：
Q=[q0q1q2q3]T；
Relation is between quaternary number and attitude angle：
θ=arcsin (2 (q0q1+q2q3))；
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Number, three attitude angles θ, γ, ψ are obtained by sensor, and q is gone out by equation solution0、q1、q2、q3Value.
4. the complementary filter method according to claim 3 resolved for UAV Attitude, it is characterised in that in step 4,
The quaternary number margin of errorFor：
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5. the complementary filter method according to claim 4 resolved for UAV Attitude, it is characterised in that in step 5,
By what is obtained in step 3Substitute into following formula：
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And corresponding UAV Attitude angle.
6. the complementary filter method according to claim 4 resolved for UAV Attitude, it is characterised in that in step 5,
Quaternary number is the quaternary number that the modulus value standardized is 1, and in each filtering cycle, all enters professional etiquette to the quaternary number that resolving is obtained
Generalized processing, processing method is as follows：
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Cited By (12)
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| CN108827299A (en) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | A kind of attitude of flight vehicle calculation method based on improvement quaternary number second order complementary filter |
| CN108983795A (en) * | 2018-05-07 | 2018-12-11 | 长江大学 | A kind of three-axis attitude bearing calibration and equipment |
| CN109506646A (en) * | 2018-11-20 | 2019-03-22 | 石家庄铁道大学 | A kind of the UAV Attitude calculation method and system of dual controller |
| CN109674480A (en) * | 2019-02-02 | 2019-04-26 | 北京理工大学 | A kind of human motion attitude algorithm method based on improvement complementary filter |
| CN109931929A (en) * | 2019-01-25 | 2019-06-25 | 南京薄幕软件科技有限公司 | A kind of UAV Attitude calculation method based on quaternary number |
| CN110793515A (en) * | 2018-08-02 | 2020-02-14 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude estimation method based on single-antenna GPS and IMU under large-mobility condition |
| CN111831962A (en) * | 2020-07-14 | 2020-10-27 | 河北科技大学 | Four-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment |
| CN112284369A (en) * | 2020-10-19 | 2021-01-29 | 沈阳峰尚科技有限公司 | Gyro signal determination method, device and equipment |
| CN112649001A (en) * | 2020-12-01 | 2021-04-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for resolving attitude and position of small unmanned aerial vehicle |
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| CN115683112A (en) * | 2022-10-24 | 2023-02-03 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric tracking system quantization error suppression method based on complementary filter |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108827299B (en) * | 2018-03-29 | 2022-04-12 | 南京航空航天大学 | Aircraft attitude calculation method based on improved quaternion second-order complementary filtering |
| CN108827299A (en) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | A kind of attitude of flight vehicle calculation method based on improvement quaternary number second order complementary filter |
| CN108983795A (en) * | 2018-05-07 | 2018-12-11 | 长江大学 | A kind of three-axis attitude bearing calibration and equipment |
| CN110793515A (en) * | 2018-08-02 | 2020-02-14 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude estimation method based on single-antenna GPS and IMU under large-mobility condition |
| CN109506646A (en) * | 2018-11-20 | 2019-03-22 | 石家庄铁道大学 | A kind of the UAV Attitude calculation method and system of dual controller |
| CN109931929A (en) * | 2019-01-25 | 2019-06-25 | 南京薄幕软件科技有限公司 | A kind of UAV Attitude calculation method based on quaternary number |
| CN109674480A (en) * | 2019-02-02 | 2019-04-26 | 北京理工大学 | A kind of human motion attitude algorithm method based on improvement complementary filter |
| CN111831962A (en) * | 2020-07-14 | 2020-10-27 | 河北科技大学 | Four-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment |
| CN112284369A (en) * | 2020-10-19 | 2021-01-29 | 沈阳峰尚科技有限公司 | Gyro signal determination method, device and equipment |
| CN112649001A (en) * | 2020-12-01 | 2021-04-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for resolving attitude and position of small unmanned aerial vehicle |
| CN112649001B (en) * | 2020-12-01 | 2023-08-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Gesture and position resolving method for small unmanned aerial vehicle |
| CN114608516A (en) * | 2022-01-28 | 2022-06-10 | 北京航天发射技术研究所 | Appearance equipment is surveyed to miniaturized radar developments |
| CN115063945A (en) * | 2022-06-20 | 2022-09-16 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115063945B (en) * | 2022-06-20 | 2023-12-29 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115683112A (en) * | 2022-10-24 | 2023-02-03 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric tracking system quantization error suppression method based on complementary filter |
| CN115683112B (en) * | 2022-10-24 | 2024-04-09 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric tracking system quantization error suppression method based on complementary filter |
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