Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV

	Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV
	Zhang X.; Bai Y.; Zhao C.-J.; Wang R.-J.; Gong X.; Xu Z.-J.
	2014
发表期刊	Guangxue Jingmi Gongcheng/Optics and Precision Engineering
ISSN	ISBN/1004924X
卷号	22 期号:12 页码:3384-3390
摘要	An improved Sage-Husa adaptive extended Kalman filter algorithm is proposed to ensure the precision and stability of calculating attitude angles of a multi-rotor Unmanned Aerial Vehicle (UAV) under the actual flight conditions, such as unknown and time-varied noise statistical properties, main disturbance source in vibration and attitude angles high dynamically changed. The algorithm uses attitude angle variance estimated by a gyroscope in real time to estimate system noise variance and only adopts an adaptive filter algorithm to estimate measurement noise variance on-line to ensure the precision and stability of filtering. Meanwhile, it introduces the criterion of filter convergence to restrain the divergence of Kalman filter through combining with a strong tracking Kalman filter algorithm. A flight experiment and corresponding analysis show that the root-mean-square errors of the pinch and roll angles estimated by the improved algorithm are 1.722 and 1.182, obviously better than that of the conventional Sage-Husa adaptive Kalman filter algorithm. It concludes that the improved algorithm has strong adaptive ability, good real-time performance, high precision and reliable operation. It meets the need of multi-rotor UAV autonomous flight and can be applied to other navigation information measuring systems with high dynamic performance requirements if the parameters are modified appropriately.
收录类别	EI
语种	中文
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/44064
专题	中科院长春光机所知识产出
推荐引用方式 GB/T 7714	Zhang X.,Bai Y.,Zhao C.-J.,et al. Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV[J]. Guangxue Jingmi Gongcheng/Optics and Precision Engineering,2014,22(12):3384-3390.
APA	Zhang X.,Bai Y.,Zhao C.-J.,Wang R.-J.,Gong X.,&Xu Z.-J..(2014).Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV.Guangxue Jingmi Gongcheng/Optics and Precision Engineering,22(12),3384-3390.
MLA	Zhang X.,et al."Improved adaptive extended Kalman algorithm for attitude estimation of multi-rotor UAV".Guangxue Jingmi Gongcheng/Optics and Precision Engineering 22.12(2014):3384-3390.

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