Attitude heading reference system for low-cost small unmanned aerial vehicle
A small unmanned aerial vehicle and reference system technology, applied in the field of low-cost small unmanned aerial vehicle attitude and heading reference system, can solve the problems of high cost of magnetic heading meter, unsolvable problems, poor low-cost flight control computer and other problems, and achieve the solution Effects of inaccurate attitude estimation, improved accuracy and reliability, and reduced complexity
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[0028] The preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings.
[0029] This embodiment implements an attitude and heading reference system for low-cost small unmanned aerial vehicles, which consists of three parts: an angular rate gyro subsystem, a correction subsystem and a Kalman filter. figure 1 A block diagram of the attitude heading reference system is shown. In this embodiment, the error quaternion method is used to establish the model, which relieves the calculation load of the onboard processor.
[0030] 1) Angular rate gyro operation module
[0031] The attitude of a rigid body in three-dimensional space is usually described by three Euler angles, which are roll angle f, pitch angle q, and yaw angle y. Attitude angles describe the relative relationship between two different coordinate systems. In navigation, guidance and control, for aircraft moving near the ground, the body coordinate ...
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