Attitude Estimation of the Multi-rotor UAV Based on Simplified Adaptive Kalman Filter Algorithm
作者单位：Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences University of Chinese Academy of Sciences School of Electrical and Information Technology Changchun Institute of Technology
会议名称：《2015年中国智能自动化学术会议》
会议日期：2015年
学科分类：08[工学] 082503[工学-航空宇航制造工程] 0825[工学-航空宇航科学与技术]
基 金：sponsored by the National Natural Science Foundation of China[No.11372309 and No.61304017] Science and Technology Development Plan Key Project of Jilin Province[No.20150204074GX] Science and Technology Special Fund Project of Provincial Academy Cooperation[No.2014SYHZ0004]
关 键 词：Multi-rotor UAV Attitude estimation Adaptive Kalman filter Quaternion method
摘 要：A simplified and improved attitude estimation algorithm is put forward,for the problems from the multi-rotor UAV in noise statistical characteristics unknown and time-varying, vibration as the main disturbance source, and highfrequent dynamic changes of the attitude angles. A simplified adaptive Kalman filter algorithm is designed for multi-sensor information fusion. With the attitude angle variance of the real-time dynamic calculation by the gyro and the accelerometer, the system noise variance and the measurement noise variance are estimated, so as to solve the unknown about the noise statistical characteristics, and to prevent the filter divergence. The flight experiment shows that the algorithm can guarantee the accuracy and the stability of the attitude angle estimation. The rootmean-square errors of the pitch and roll angles which are estimated by the simplified algorithm are 2.922° and 1.713°. The accuracy of the algorithm can meet the demands for the autonomous flight of the multi-rotor UAV.