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首页> 外文期刊>International Association of Online Engineering >The Attitude Signal Processing of Four Rotor Aircraft based on a Kalman Filter
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The Attitude Signal Processing of Four Rotor Aircraft based on a Kalman Filter

机译：基于卡尔曼滤波器的四旋翼飞机姿态信号处理

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This paper puts forward Kalman filter algorithm to improve the accuracy and the stability of four rotor aircraft control. The algorithm principle is that making use of covariance to estimate the system optimal output.The flight and control theory of four rotor aircraft is first analysed, furthermore, it is found that the attitude angle has the biggest influence to its control. Then, the Kalman filter model is established for processing attitude angle information from gyro and accelerometer sensors. Finally, the algorithm is compared with complementary filter. The flight conditions is simulated in different flight environment, it is shown that Kalman filter algorithm can improve the precision and real time more greatly in attitude angle acquisition.
机译：提出了卡尔曼滤波算法，以提高四旋翼飞机控制的精度和稳定性。该算法的原理是利用协方差估计系统的最优输出。首先分析了四旋翼飞机的飞行和控制原理，发现姿态角对其控制影响最大。然后，建立用于处理来自陀螺仪和加速度计传感器的姿态角信息的卡尔曼滤波器模型。最后，将该算法与互补滤波器进行比较。在不同的飞行环境中对飞行条件进行了仿真，结果表明，卡尔曼滤波算法可以大大提高姿态角获取的精度和实时性。

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