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提出了一种基于最小二乘拟合和四元数拓展卡尔曼滤波器小型无人机姿态系统估计方法。首先建立三轴磁力计的物理模型,采用最小二乘拟合算法估算磁力计的干扰向量,然后采用加速度计对磁力计进行倾斜补偿,最后采用拓展卡尔曼滤波器融合加速度计、陀螺仪和磁力计的4数据,估计飞行器三维姿态。测试结果表明,姿态系统的方位角的线性误差最大为4°,倾斜40°情况下,方位角最大误差为2.6°,静止放置时,横滚角、俯仰角和方位角最大的静止偏差分别为0.215°、0.103°和0.464°。
A method based on least squares fitting and quaternion expansion Kalman filter for attitude estimation of small UAV was proposed. Firstly, the physical model of the three-axis magnetometer is established. The least squares fitting algorithm is used to estimate the interference vector of the magnetometer. Then the accelerometer is used to compensate the magnetometer inclination. Finally, the extended Kalman filter is used to integrate accelerometer, gyroscope and magnetic force Total 4 data, estimated three-dimensional attitude of the aircraft. The test results show that the azimuth linear error of the attitude system is 4 ° maximum and the maximum azimuth error is 2.6 ° when the tilt angle is 40 °. The static error of the maximum roll angle, pitch angle and azimuth is 0.215 °, 0.103 ° and 0.464 °.