Volume 39, Number 1, February 2021
|Page(s)||175 - 181|
|Published online||09 April 2021|
UAV attitude calculation algorithm based on acceleration correction model
In order to improve the accuracy of attitude of unmanned aerial vehicle (UAV) navigation system in dynamic environment, an attitude calculation algorithm based on acceleration correction model is proposed. First, the acceleration correction model is established to calculate the estimated non-gravitational acceleration and external non-gravitational acceleration to modify the output value of the accelerometer, which reduces the influence of non-gravitational acceleration on the attitude calculation in dynamic environment. Then, the attitude calculation model based on Kalman filter is built, attitude angle calculated by corrected acceleration and magnetometer as measurement of filtering model, and the attitude calculation algorithm based on the acceleration correction model is designed. The experimental results show that the algorithm can reduce the interference of non-gravitational acceleration to attitude calculation, which avoids attitude angle divergence of UAV navigation system in dynamic environment, and improves the accuracy and anti-interference ability of UAV navigation system in dynamic environment.
Key words: UAV / attitude calculation / acceleration correction model / Kalman filtering / experiment / dynamic environment
关键字 : 无人机 / 姿态解算 / 加速度计 / 卡尔曼滤波
© 2021 Journal of Northwestern Polytechnical University. All rights reserved.
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