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首页> 外文期刊>Journal of Intelligent and Robotic Systems >A Data Fusion System for Attitude Estimation of Low-cost Miniature UAVs
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A Data Fusion System for Attitude Estimation of Low-cost Miniature UAVs

机译：低成本微型无人机姿态估计的数据融合系统

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摘要

Miniature unmanned aerial vehicles (UAVs) have attracted wide interest from researchers and developers because of their broad applications. In order to make a miniature UAV platform popular for civilian applications, one critical concern is the overall cost. However, lower cost generally means lower navigational accuracy and insufficient flight control performance, mainly due to the low graded avionics on the UAV. This paper introduces a data fusion system based on several low-priced sensors to improve the attitude estimation of a low-cost miniature fixed-wing UAV platform. The characteristics of each sensor and the calculation of attitude angles are carefully studied. The algorithms and implementation of the fusion system are described and explained in details. Ground test results with three sensor fusions are compared and analyzed, and flight test comparison results with two sensor fusions are also presented.
机译：微型无人机因其广泛的应用而吸引了研究人员和开发人员的广泛兴趣。为了使微型无人机平台在民用中流行，一个关键的问题是总成本。但是，较低的成本通常意味着较低的导航精度和不足的飞行控制性能，这主要是由于无人机上的低坡度航空电子设备所致。本文介绍了一种基于多个低价传感器的数据融合系统，以改善低成本微型固定翼无人机平台的姿态估计。每个传感器的特性和姿态角的计算都经过仔细研究。对融合系统的算法和实现进行了详细说明和解释。对三种传感器融合的地面测试结果进行了比较和分析，还给出了两种传感器融合的飞行测试比较结果。

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