摘要
Aiming at the problem of initial attitude determination of aerial platform, a low computational attitude fusion algorithm is proposed based on MIMU. Attitude kinematic equations described by quaternions are developed and the filter structure used in this paper is designed. Real fly test results show that: at different initial deviation, the alignment precision of roll and pitch angles are within 1 °, attitude errors converge to 5 °or less within 12s, which meets the requirements of the aerial platform attitude fast self-determination. The filter algorithm has a small amount of calculation and is easy to be realized.
源语言 | 英语 |
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主期刊名 | Measurement Technology and its Application III |
出版商 | Trans Tech Publications Ltd. |
页 | 964-969 |
页数 | 6 |
ISBN(印刷版) | 9783038351382 |
DOI | |
出版状态 | 已出版 - 2014 |
出版系列
姓名 | Applied Mechanics and Materials |
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卷 | 568-570 |
ISSN(印刷版) | 1660-9336 |
ISSN(电子版) | 1662-7482 |
指纹
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Du, X. J., Lan, X. Y., & Zhai, J. Y. (2014). Initial attitude determination of aerial platform based on MIMU. 在 Measurement Technology and its Application III (页码 964-969). (Applied Mechanics and Materials; 卷 568-570). Trans Tech Publications Ltd.. https://doi.org/10.4028/www.scientific.net/AMM.568-570.964