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Quadrotor posture resolving method combining conjugate gradient and extended Kalman filtering

A technique of extending Kalman and conjugate gradient, which is applied in the direction of navigation computing tools, etc.

Active Publication Date: 2016-08-24
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide an attitude calculation method that can obtain the attitude in real time and has high precision for the problem of quadrotor attitude calculation, so as to better control the flight state of the quadrotor

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  • Quadrotor posture resolving method combining conjugate gradient and extended Kalman filtering
  • Quadrotor posture resolving method combining conjugate gradient and extended Kalman filtering
  • Quadrotor posture resolving method combining conjugate gradient and extended Kalman filtering

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Embodiment Construction

[0043] Attached below Figure 1-6 The present invention is described in detail with reference to the examples and the present invention is not limited to the given drawings and examples.

[0044] The overall process of the quadrotor attitude calculation method combined with conjugate gradient and extended Kalman filter implemented according to the present invention is as follows: image 3 and 4 . It is characterized in that comprising the steps of:

[0045] Step S1: Collect sensor information: In the body coordinate system, collect the state information of the quadrotor through the gyroscope, acceleration sensor, and geomagnetic sensor. Projection, the geomagnetic sensor measures the three-axis magnetic induction intensity at the position of the quadrotor; the body coordinate system is the reference coordinate system fixed to the quadrotor;

[0046] Step S2: Perform de-zero drift processing on the gyroscope and accelerometer respectively:

[0047] Step S3: Use a Butterwor...

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Abstract

The invention relates to a quadrotor posture resolving method combining the conjugate gradient and extended Kalman filtering. The method comprises the steps that firstly, information of a sensor is collected to obtain the flying state of a quadrotor; then, an observation model is established with a conjugate gradient method, then a process model is established, and a quaternion obtained with the conjugate gradient method serves as a measurement value of extended Kalman filtering; finally, the optimal quaternion is obtained with an extended Kalman filtering method, and three posture angles of the quadrotor are solved. Compared with a simple gradient method and a complementary filtering method, system errors and measurement noise of the sensor are taken into consideration in the extended Kalman filtering method, and thus the estimated quaternion has higher accuracy. The observation quaternion obtained with the conjugate gradient method is applied to extended Kalman filtering, and thus a linear observation model complex in calculation can be avoided.

Description

technical field [0001] The invention relates to a method for measuring attitude and heading data of a quadrotor UAV, in particular to a method for calculating the attitude of a quadrotor UAV (hereinafter referred to as quadrotor) combined with conjugate gradient and extended Kalman, mainly for Military reconnaissance, agricultural plant protection, power inspection, surveying and mapping, aerial photography, etc. Background technique [0002] With the continuous development of robotics and aerospace technology, quadrotors have gradually become a research hotspot for domestic and foreign scholars and aerial photography enthusiasts. Quadrotor is a multi-rotor unmanned aerial vehicle with special flight capabilities such as vertical take-off and landing and hovering in the air. During the flight, various flight attitudes can be changed by changing the rotation speed of the four rotors. Because of its unique flight capabilities such as vertical take-off and landing, fixed-poin...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 陈洋龙文吴怀宇程磊王正熙
Owner WUHAN UNIV OF SCI & TECH
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