Height estimation method for four-rotor aircraft based on Kalman filtering
A quadrotor aircraft, Kalman filter technology, applied in attitude control and other directions, can solve the problems of high price of GPS, low accuracy of GPS altitude measurement, and low data frequency.
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[0033] A method for estimating the height of a quadrotor aircraft based on Kalman filtering, including the following steps:
[0034] Step 1, establish the state equation of the multi-rotor aircraft height model, specifically:
[0035] Step 1.1, carry out force analysis on the multi-rotor aircraft, and derive its dynamic differential equation.
[0036] It is assumed that the multi-rotor aircraft is a rigid body with six degrees of freedom, the elastic vibration and deformation are ignored, and the interaction between the rotors is not considered, and the shape and mass of the multi-rotor aircraft are considered to be symmetrical.
[0037] According to Newton's law of motion, the motion equation of the center of mass of the multi-rotor aircraft in the inertial coordinate system is:
[0038] F → = d ( m V → ...
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