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针对微型无人机航向姿态参考系统低成本、小型化的工程实现需求,基于三轴陀螺仪、加速度计和磁力计,提出了一种在线实时姿态估计算法。该算法采用四元数描述系统模型,采用改进的梯度下降法预处理加速度计和磁力计的姿态信息,然后采用互补滤波融合陀螺仪的姿态信息,实现高精度实时姿态估计。最后通过在线性能测试,来验证算法的有效性。结果表明,该算法测量误差小、运算量小、实时性高,具有较高的工程应用价值。
In order to meet the needs of low cost and miniaturization project of the attitude and heading reference system of miniature UAV, an on-line real-time attitude estimation algorithm is proposed based on three-axis gyroscope, accelerometer and magnetometer. The algorithm uses the quaternion description system model, adopts the improved gradient descent method to pretreat the attitude information of the accelerometer and the magnetometer, and then uses the complementary filtering to fuse the attitude information of the gyroscope to realize the high-precision real-time pose estimation. Finally, the online performance test to verify the effectiveness of the algorithm. The results show that the proposed algorithm has the advantages of small measurement error, small computation, high real-time performance and high engineering application value.