Small multi-rotor unmanned aerial vehicle attitude solving method

Abstract

The invention discloses a small multi-rotor unmanned aerial vehicle attitude solving method. A quaternion is adopted as a state vector, the state vector is updated by using gyroscope data, and acceleration data and magnetometer data are processed in two stages. In the first stage, the state vector of the quaternion is preliminarily corrected by using an improved unscented Kalman filtering algorithm and the accelerometer data; and in the second stage, the state vector of the quaternion is further corrected by using the improved unscented Kalman filtering algorithm and the magnetometer data. The method which processes the accelerometer data and the magnetometer data in two stages reduces the dimension of the measurement vector, and a small matrix can be used to carry out calculation in order to achieve small computational power and reduce the influences of magnetic anomaly on the estimation precision of the roll angle and the pitch angle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle control and inertial navigation, and more specifically relates to a method for calculating the attitude of a small multi-rotor unmanned aerial vehicle. Background technique [0002] Although the application of multi-rotor UAVs has been very extensive, there are still many problems in the research process of multi-rotor UAVs. One of the most important problems is that multi-rotor UAVs are usually small in size and cannot use traditional high-precision sensors with large volume and weight. Instead, they use low-cost MEMS inertial sensors, but the current MEMS inertial Compared with those military-grade high-precision inertial sensors, the sensor has low precision, poor stability, and its system error accumulates quickly over time, which cannot meet the requirements of multi-rotor UAV attitude measurement. However, the accuracy of attitude estimation is a key factor affecting the performance o...

AI Technical Summary

Problems solved by technology

[0003] Due to various considerations such as manufacturing cost, power consumption and volume size, the current small multi-rotor UAVs mostly use low-cost microcontrollers as the main control chip. This low-cost microcontroller has limited computing power.

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