Attitude Determination for MAVs Using a Kalman Filter

作     者：刘成 周兆英 付旭 

作者机构：State Key Laboratory of Precision Measurement Technology and InstrumentsDepartment of Precision Instruments and MechanologyTsinghua University 

出 版 物：《Tsinghua Science and Technology》 (清华大学学报（自然科学版（英文版）)

年 卷 期：2008年第13卷第5期

页      面：593-597页

核心收录：

学科分类：080902[工学-电路与系统] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 

主　　题：attitude determination Kalman filter micro-electro mechanical system (MEMS) micro aerial vehicle (MAV) 

摘      要：This paper presents a Kalman filter to effectively and economically determine the Euler angles for micro aerial vehicles （MAVs）, whose size and payload are severely limited. The filter uses data from a series of micro-electro mechanical system sensors to determine the selected 3 variables of the direction cosine matrix and the bias of the rate gyro sensors as state elements in a dynamic model, with the gravitational acceleration to build a measurement model. For high speed maneuvers, rigid motion equations are used to correct the measurements of the gravitational acceleration. The filter is designed to automatically tune its gain based on the dynamic system state. Simulations indicate that the Euler angles can be determined with standard deviations less than 3°. The algorithm was successfully implemented in a miniature attitude measurement system suitable for MAVs. Aerobatic flights show that the attitude determination algorithm works effectively. The attitude determination algorithm is effective and economical, and can also be applied to bionic robofishs and land vehicles, whose size and payload are also greatly limited.