针对四轴飞行器的姿态解算出现的姿态角数据漂移问题,提出一种基于Mahony滤波和互补滤波相结合的混合滤波算法,将传感器采集到的加速度、角速度以及磁场强度数据进行融合,利用加速度计和磁力计的向量偏差来对姿态解算过程中陀螺仪产生的积分累计误差进行修正.最后,建立姿态解算测试平台对混合滤波算法进行实验验证.实验结果表明,采用混合滤波算法的一次迭代滤波所需的平均用时为3.826 ms,比其他算法的平均用时短,混合滤波能有效地修正陀螺仪的积分累计误差,在降低运算复杂度的同时提高姿态解算的精度.%In order to solve the problem of attitude angle drifting in attitude estimation of a quad-rotor aircraft,a hybrid filter algorithm based on Mahony filter and complementary filter is proposed to fuse the data collected from accelerometer,gyroscope and magnetometer.Taking advantage of vector deviation of accelerometer and magnetmetor,the integration accumulated error of gyroscope during the process of attitude estimation is modified.At last,the experimental platform of attitude estimation is established to test and verify the hybrid filter algorithm.Experimental results show that the average time required for once iteration filtering of the hybrid filter algorithm is 3.826 ms,which is shorter than that of other algorithm.The hybrid filter algorithm can modify the integration accumulated error of gyroscope effectively,reduce computational complexity and improve the accuracy of attitude estimation at the same time.
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