Posture estimation method of four-rotor aircraft based on evidence fusion

A quadrotor aircraft, attitude estimation technology, used in navigation calculation tools and other directions

Inactive Publication Date: 2014-04-02
HANGZHOU DIANZI UNIV
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AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to propose a quadrotor aircraft attitude estimation method based on evidence fusion, which can establish evidence about the attitude state equation, observation equation and actual measurement of the aircraft under the condition that the state and observation noise are bounded. The attitude estimation is obtained by fusion, and the interval mapping tool is used to realize the propagation of evidence, so as to solve the attitude estimation problem when the statistical distribution of state and observation noise cannot be accurately obtained

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  • Posture estimation method of four-rotor aircraft based on evidence fusion
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  • Posture estimation method of four-rotor aircraft based on evidence fusion

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Embodiment Construction

[0132] The quadrotor attitude estimation method based on evidence fusion proposed by the present invention, its flow chart is as follows figure 1 shown, including the following steps:

[0133] (1) Establish the state equation and observation equation of the attitude of the quadrotor aircraft, the specific steps are as follows

[0134] (1-1) The state equation for establishing the attitude of the quadrotor aircraft is shown in formula (1):

[0135] x k+1 =Ax k +Q(v) (1)

[0136] In the formula (1), k=0,1,2,3,…, represents the time, x k = q 0 , k q 1 , k ...

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Abstract

The invention relates to a posture estimation method of a four-rotor aircraft based on evidence fusion. The method provided by the invention comprises the following steps: establishing a state equation and an observation equation of postures of the four-rotor aircraft, wherein state and observation noises are modeled to be a triangular possibility distribution function; converting the function into noise evidences, and substituting the noise evidences into the state equation and the observation equation, so as to generate three evidences describing states of the aircraft after being compounded with an actual observed value; realizing the evidence fusion by using an evidence combination rule; recursively spreading the three evidences in continuous times through a section mapping tool; weighing reliability assignment included in the fused evidences, so as to obtain an estimated value of the posture of the aircraft. The method provided by the invention has no need of meeting the steep requirements that the probability distribution of the state and observation noises are known, and only needs to define the noise to be bounded and can be described by using the simple triangular function. The practicability in actual posture estimation can be improved. Compared with the existing typical method, the method has higher estimation precision.

Description

technical field [0001] The invention relates to an attitude estimation method of a quadrotor aircraft based on evidence fusion, and belongs to the technical field of aircraft attitude estimation and control. Background technique [0002] The rapid development of modern sensor technology, computer technology and various intelligent information processing technologies has promoted the wide application of aerospace vehicles for various functional requirements in national defense and civilian fields. Due to the diverse functional requirements and the complex application environment, higher requirements are placed on the stability and accuracy of aircraft attitude estimation. Therefore, the research on aircraft attitude estimation methods has very important theoretical and practical significance. [0003] According to different application scenarios and performance requirements of the aircraft, different attitude measurement systems and estimation methods can be used, but their e...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 徐晓滨刘征李宏伟张镇
Owner HANGZHOU DIANZI UNIV
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