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高速旋转的螺旋桨将使旋翼飞行器的机体产生振动,给MEMS加速度计带来有害的振动噪声,使得旋翼飞行器的姿态估计受到一定的影响,造成姿态估计精度降低,严重的可使姿态估计错误。通过实验分析了机体振动对MEMS加速度计的影响,提出设计低通滤波器的方法降低振动噪声对加速度计的影响。实验结果表明:经过低通滤波器处理后,仍采用原有梯度下降法进行姿态数据融合,姿态数据融合精度有较好的改善。
The high-speed rotating propeller will make the body of the rotorcraft vibrate, which will bring harmful vibration noise to the MEMS accelerometer, which will affect the attitude estimation of the rotorcraft to a certain extent, resulting in the decrease of attitude estimation precision and the serious error of attitude estimation. The influence of body vibration on MEMS accelerometer is analyzed experimentally, and the method of designing low-pass filter is proposed to reduce the influence of vibration and noise on accelerometer. The experimental results show that after the low-pass filter processing, the original gradient descent method is still used to fuse the attitude data, and the accuracy of attitude data fusion is better.