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.

Inactive Publication Date: 2015-07-29
武汉顶翔智控科技有限公司
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Problems solved by technology

The price of GPS is relatively expensive, and the accuracy of GPS altitude measurement value is low, and the data frequency is low, so it is not suitable for aircraft altitude control

Method used

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  • Height estimation method for four-rotor aircraft based on Kalman filtering
  • Height estimation method for four-rotor aircraft based on Kalman filtering
  • Height estimation method for four-rotor aircraft based on Kalman filtering

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Embodiment Construction

[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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Abstract

The invention discloses a height estimation method for a four-rotor aircraft based on Kalman filtering. According to the method disclosed by the invention, a kinetic model for the height of a multi-rotor aircraft is established, the kinetic model is simplified into a linear model according to flight characteristics of the multi-rotor aircraft and converted into the mode of a state equation, an accelerometer is adopted to be combined with an air pressure gauge, a height value of the aircraft is speculated by using a Kalman filtering algorithm, and a certain filtering effect is played at the same time. The height estimation method applies a low-cost sensor, is not affected by changes in the weather and has the remarkable advantages of high precision, low cost, good real-time performance, wide application range and the like. The height estimation method can be applied to fixed height control for the aircraft.

Description

technical field [0001] The invention relates to a method for estimating the height of an aircraft, in particular to a method for estimating the height of a quadrotor aircraft based on Kalman filtering, and belongs to the technical field of aircraft navigation and control. Background technique [0002] Research in the field of quadrotor aircraft is becoming more and more extensive, and many countries and regions have invested a lot of manpower and material resources. The use of most UAVs is mainly reflected in both civilian and military applications, such as military reconnaissance, battlefield assessment, aerial photography, power inspection, environmental monitoring, forest fire prevention, terrorism prevention and lifesaving, etc. The quadrotor UAV has the characteristics of small size, strong maneuverability, high cost-effectiveness, and no casualties. Whether it is from an economic point of view or from a personal safety point of view, quadrotor drones will be widely us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08
Inventor 胡镇李顶根金卫民
Owner 武汉顶翔智控科技有限公司
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