CN107063262A - A kind of complementary filter method resolved for UAV Attitude - Google Patents
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Abstract
The invention discloses a kind of complementary filter method resolved for UAV Attitude, including setting initial attitude quaternary number and gyroscopic drift estimate；Output data to gyroscope and accelerometer carries out high-pass filtering, LPF respectively, and obtained attitude data is converted into attitude angle after filtering；According to the resolving attitude angle of accelerometer, obtain one and refer to attitude quaternion；Calculate the quaternary number margin of error；The calculating of a filtering cycle is completed, the steps such as the quaternary number after complementary filter, and corresponding UAV Attitude angle are obtained；The present invention can improve the resolving accuracy at UAV Attitude angle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to a complementary filtering method for unmanned aerial vehicle attitude calculation.
Technical Field
An Unmanned Aerial Vehicle (UAV), also called an Unmanned Aerial Vehicle for short, is an Unmanned Aerial Vehicle operated by a radio remote control and an onboard program controller. It appeared in the 20 th century for the first time, and was used as a target in military training, and gradually turned to various multipurpose fields such as investigation and attack through the continuous development of the last hundred years. Compared with a manned airplane, the unmanned airplane has the advantages of low cost, strong viability, no casualty risk, convenient use and the like, so that the unmanned airplane can play an important role in military affairs and has wide application prospect in the civil field.
Attitude measurement is the premise that the unmanned aerial vehicle realizes attitude control, is an integral important component of a navigation system, and directly influences the survival capability of the unmanned aerial vehicle. With the development of micromechanical inertial technology, the construction of micro-miniature low-cost attitude heading reference systems by using micromechanical gyroscopes, accelerometers and magnetometers has become one of the research hotspots in recent years.
In traditional unmanned aerial vehicle attitude control, the attitude angle can be obtained by gyroscope integration, and can also be derived by acceleration sensor measurement gravitational acceleration in the three-axis vector decomposition coordinates of the carrier system. The gyroscope has good high-frequency dynamic response characteristics for resolving the attitude angle, and the output of the gyroscope can quickly respond to the change of the attitude angle; no high-frequency noise interference exists, and the output value is smooth; the output of the gyroscope is not interfered by external acceleration, and stable output can be still maintained under the condition that the carrier is in violent vibration. It also has some drawbacks: for example, the zero point of the gyroscope drifts along with the change of temperature and other external environmental factors, the integral of the output value of the gyroscope generates an accumulated error, and the calculation error is larger after the gyroscope runs for a long time. The low-frequency characteristic of the attitude angle calculated by the accelerometer is good, the static output is stable, and no drift or accumulated error exists; the attitude calculation amount is small, and accurate instantaneous attitude angle data can be rapidly obtained under the condition of no external acceleration (only gravity acceleration). It has the following drawbacks: the high-frequency noise interference and the poor high-frequency dynamic characteristic exist, the output of the high-frequency noise interference cannot rapidly respond to the rapid change of the attitude angle, the high-frequency noise interference cannot be easily interfered by external acceleration, and if acceleration except for the gravity acceleration exists, the accurate attitude angle cannot be obtained.
Disclosure of Invention
In order to solve the technical problem, the invention provides a complementary filtering method for unmanned aerial vehicle attitude calculation.
The technical scheme adopted by the invention is as follows: a complementary filtering method for unmanned aerial vehicle attitude calculation is characterized by comprising the following steps:
step 1: setting initial attitude quaternion and gyroscope drift estimation value;
step 2: respectively carrying out high-pass filtering and low-pass filtering on output data of the gyroscope and the accelerometer, and converting obtained attitude data into attitude angles after filtering;
and step 3: obtaining a reference attitude quaternion according to the calculated attitude angle of the accelerometer;
and 4, step 4: calculating a quaternion error quantity;
and 5: and finishing the calculation of a filtering period to obtain the quaternion after complementary filtering and the corresponding attitude angle of the unmanned aerial vehicle.
Compared with the prior art, the invention has the beneficial effects that: by using the method, the resolving accuracy of the attitude angle of the unmanned aerial vehicle can be improved; during actual test, the error of the attitude angle calculation value is within 0.5 degrees, compared with the traditional calculation methods such as the adaptive filter algorithm, the average filter algorithm, the Kalman filter algorithm and the like, the calculation amount is reduced, and the precision is improved by about 50 percent at the same calculation speed.
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FIG. 1 is a present block diagram of an embodiment of the invention.
Detailed Description
In order to facilitate the understanding and implementation of the present invention for those of ordinary skill in the art, the present invention is further described in detail with reference to the accompanying drawings and examples, it is to be understood that the embodiments described herein are merely illustrative and explanatory of the present invention and are not restrictive thereof.
Referring to fig. 1, the complementary filtering method for unmanned aerial vehicle attitude calculation provided by the invention comprises the following steps:
step 1, setting initial attitude quaternionAnd gyroscope drift estimate
And 2, respectively carrying out high-pass filtering and low-pass filtering on the output of the gyroscope and the accelerometer, and converting the obtained attitude data into an attitude angle after filtering.
Step 3, obtaining a reference attitude quaternion Q according to the calculated attitude angle of the accelerometer;
Q＝[q0q1q2q3]T；
wherein, the relation between quaternion and attitude angle is:
θ＝arcsin(2(q0q1+q2q3))
where q is the scalar part of a quaternion, q ═ q1q2q3]TBeing the vector part of a quaternion, q0、q1、q2、q3All are unknown numbers, three attitude angles theta, gamma and psi are obtained by the sensors, and q is solved by an equation0、q1、q2、q3The value of (c).
Step 4, calculating quaternion error amount:to obtain
Wherein q is [ q ]1q2q3]TThe quaternion is rotatable, the sign plus a represents a rotation transformation, and the matrix sign plus the wavy line represents the corresponding augmentation matrix.
Step 5, the product obtained in the step 3 is processedSubstituting the following formula:
wherein,Ωgis the three-axis output of the gyroscope,gyro drift, k, estimated for the algorithmp＞0，ki＞0；
Solving differential equationsAnd finishing the calculation of a filtering period to obtain the quaternion after complementary filtering and the corresponding attitude angle of the unmanned aerial vehicle.
The method comprises the following steps:
(1) acquiring current attitude information by an attitude sensor on the unmanned aerial vehicle, wherein the attitude sensor comprises a gyroscope and an accelerometer;
(2) before data fusion, high-pass filtering is carried out on the gyro calculation value so as to eliminate noise contained in the output of the gyro and inhibit gyro drift;
(3) before data fusion, low-pass filtering is carried out on the accelerometer calculated value, and noise interference and accumulated increment are filtered;
(4) when the gyroscope is used for resolving the attitude angle of the unmanned aerial vehicle, the high-frequency characteristic is good, the low-frequency characteristic is poor, and the accelerometer has the advantages of good low-frequency characteristic and poor high-frequency characteristic. Therefore, after the data fusion is carried out on the unmanned aerial vehicle and the unmanned aerial vehicle, the attitude calculation of the unmanned aerial vehicle can be more accurate;
(5) use fourThe element represents the unmanned plane attitude, and the attitude quaternion from the navigation coordinate system to the body coordinate system is defined to be Q ═ Q0q1q2q3。
The quaternion used by the invention is a normalized quaternion with a module value of 1, and the quaternion obtained by resolving is subjected to normalization processing in each filtering period, and the processing method comprises the following steps:
it should be understood that parts of the specification not set forth in detail are well within the prior art.
It should be understood that the above description of the preferred embodiments is given for clarity and not for any purpose of limitation, and that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A complementary filtering method for unmanned aerial vehicle attitude calculation is characterized by comprising the following steps:
step 1: setting initial attitude quaternion and gyroscope drift estimation value;
step 2: respectively carrying out high-pass filtering and low-pass filtering on output data of the gyroscope and the accelerometer, and converting obtained attitude data into attitude angles after filtering;
and step 3: obtaining a reference attitude quaternion according to the calculated attitude angle of the accelerometer;
and 4, step 4: calculating a quaternion error quantity;
and 5: and finishing the calculation of a filtering period to obtain the quaternion after complementary filtering and the corresponding attitude angle of the unmanned aerial vehicle.
2. The complementary filtering method for unmanned aerial vehicle attitude solution according to claim 1, wherein: in step 1, initial attitude quaternionThe gyroscope drift estimate is
3. The complementary filtering method for unmanned aerial vehicle attitude solution according to claim 1, wherein in step 3, the reference attitude quaternion Q is:
Q＝[q0q1q2q3]T；
the relationship between quaternion and attitude angle is:
θ＝arcsin(2(q0q1+q2q3))；
<mrow> <mi>&gamma;</mi> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mfrac> <mrow> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msup> <msub> <mi>q</mi> <mn>1</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>q</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>;</mo> </mrow>
<mrow> <mi>&psi;</mi> <mo>=</mo> <mi>a</mi> <mi>r</mi> <mi>c</mi> <mi>t</mi> <mi>a</mi> <mi>n</mi> <mfrac> <mrow> <mn>2</mn> <mrow> <mo>(</mo> <msub> <mi>q</mi> <mn>1</mn> </msub> <msub> <mi>q</mi> <mn>2</mn> </msub> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <msub> <mi>q</mi> <mn>3</mn> </msub> <mo>)</mo> </mrow> </mrow> <mrow> <mn>1</mn> <mo>-</mo> <mn>2</mn> <mrow> <mo>(</mo> <msup> <msub> <mi>q</mi> <mn>1</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>q</mi> <mn>3</mn> </msub> <mn>2</mn> </msup> <mo>)</mo> </mrow> </mrow> </mfrac> <mo>;</mo> </mrow>
wherein q is0Is a scalar part of a quaternion, q ═ q1q2q3]TBeing the vector part of a quaternion, q0、q1、q2、q3All are unknown numbers, three attitude angles theta, gamma and psi are obtained by the sensors, and q is solved by an equation0、q1、q2、q3The value of (c).
4. The complementary filtering method for unmanned aerial vehicle attitude solution according to claim 3, wherein in step 4, quaternion error quantityComprises the following steps:
<mrow> <mover> <mi>Q</mi> <mo>~</mo> </mover> <mo>=</mo> <msup> <mover> <mi>Q</mi> <mo>^</mo> </mover> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mo>*</mo> <mi>Q</mi> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mrow> <mover> <msub> <mi>q</mi> <mn>0</mn> </msub> <mo>^</mo> </mover> <msub> <mi>q</mi> <mn>0</mn> </msub> <mo>+</mo> <msup> <mover> <mi>q</mi> <mo>^</mo> </mover> <mi>T</mi> </msup> <mi>q</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <msub> <mi>q</mi> <mn>0</mn> </msub> <mo>^</mo> </mover> <mi>q</mi> <mo>-</mo> <msub> <mi>q</mi> <mn>0</mn> </msub> <mover> <mi>q</mi> <mo>^</mo> </mover> <mo>-</mo> <mover> <mi>q</mi> <mo>^</mo> </mover> <mo>&times;</mo> <mi>q</mi> </mrow> </mtd> </mtr> </mtable> </mfenced> <mo>=</mo> <mfenced open = "[" close = "]"> <mtable> <mtr> <mtd> <mover> <msub> <mi>q</mi> <mn>0</mn> </msub> <mo>~</mo> </mover> </mtd> </mtr> <mtr> <mtd> <mover> <mi>q</mi> <mo>~</mo> </mover> </mtd> </mtr> </mtable> </mfenced> </mrow>
wherein q is [ q ]1q2q3]TThe quaternion is rotatable, the sign plus a represents a rotation transformation, and the matrix sign plus the wavy line represents the corresponding augmentation matrix.
5. The complementary filtering method for unmanned aerial vehicle attitude solution according to claim 4, wherein in step 5, the result obtained in step 3 is usedSubstituting the following formula:
<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <mover> <mover> <mi>Q</mi> <mo>^</mo> </mover> <mo>&CenterDot;</mo> </mover> <mo>=</mo> <mfrac> <mn>1</mn> <mn>2</mn> </mfrac> <mover> <mi>Q</mi> <mo>^</mo> </mover> <mo>*</mo> <msub> <mi>Q</mi> <mi>&beta;</mi> </msub> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mi>&beta;</mi> <mo>=</mo> <msub> <mi>&Omega;</mi> <mi>g</mi> </msub> <mo>-</mo> <mover> <mi>b</mi> <mo>^</mo> </mover> <mo>+</mo> <msub> <mi>k</mi> <mi>p</mi> </msub> <mover> <mi>q</mi> <mo>~</mo> </mover> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <mover> <mi>b</mi> <mo>^</mo> </mover> <mo>=</mo> <mo>-</mo> <msub> <mi>k</mi> <mi>i</mi> </msub> <mover> <mi>q</mi> <mo>~</mo> </mover> </mrow> </mtd> </mtr> </mtable> </mfenced>
wherein,Ωgis the three-axis output of the gyroscope,gyro drift, k, estimated for the algorithmp＞0，ki＞0；
Solving differential equationsAnd finishing the calculation of a filtering period to obtain the quaternion after complementary filtering and the corresponding attitude angle of the unmanned aerial vehicle.
6. The complementary filtering method for unmanned aerial vehicle attitude solution according to claim 4, wherein in step 5, the quaternion is a normalized quaternion with a module value of 1, and the normalization processing is performed on the quaternion obtained by solution in each filtering period, and the processing method is as follows:
<mrow> <mi>Q</mi> <mo>=</mo> <mi>Q</mi> <mo>/</mo> <msqrt> <mrow> <mo>(</mo> <msup> <msub> <mi>q</mi> <mn>0</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>q</mi> <mn>1</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>q</mi> <mn>2</mn> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>q</mi> <mn>3</mn> </msub> <mn>2</mn> </msup> <mo>)</mo> </mrow> </msqrt> <mo>.</mo> </mrow>2
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Cited By (12)
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| CN108827299A (en) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | A kind of attitude of flight vehicle calculation method based on improvement quaternary number second order complementary filter |
| CN108983795A (en) * | 2018-05-07 | 2018-12-11 | 长江大学 | A kind of three-axis attitude bearing calibration and equipment |
| CN109506646A (en) * | 2018-11-20 | 2019-03-22 | 石家庄铁道大学 | A kind of the UAV Attitude calculation method and system of dual controller |
| CN109674480A (en) * | 2019-02-02 | 2019-04-26 | 北京理工大学 | A kind of human motion attitude algorithm method based on improvement complementary filter |
| CN109931929A (en) * | 2019-01-25 | 2019-06-25 | 南京薄幕软件科技有限公司 | A kind of UAV Attitude calculation method based on quaternary number |
| CN110793515A (en) * | 2018-08-02 | 2020-02-14 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude estimation method based on single-antenna GPS and IMU under large-mobility condition |
| CN111831962A (en) * | 2020-07-14 | 2020-10-27 | 河北科技大学 | Four-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment |
| CN112284369A (en) * | 2020-10-19 | 2021-01-29 | 沈阳峰尚科技有限公司 | Gyro signal determination method, device and equipment |
| CN112649001A (en) * | 2020-12-01 | 2021-04-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for resolving attitude and position of small unmanned aerial vehicle |
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| CN108827299B (en) * | 2018-03-29 | 2022-04-12 | 南京航空航天大学 | Aircraft attitude calculation method based on improved quaternion second-order complementary filtering |
| CN108827299A (en) * | 2018-03-29 | 2018-11-16 | 南京航空航天大学 | A kind of attitude of flight vehicle calculation method based on improvement quaternary number second order complementary filter |
| CN108983795A (en) * | 2018-05-07 | 2018-12-11 | 长江大学 | A kind of three-axis attitude bearing calibration and equipment |
| CN110793515A (en) * | 2018-08-02 | 2020-02-14 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude estimation method based on single-antenna GPS and IMU under large-mobility condition |
| CN109506646A (en) * | 2018-11-20 | 2019-03-22 | 石家庄铁道大学 | A kind of the UAV Attitude calculation method and system of dual controller |
| CN109931929A (en) * | 2019-01-25 | 2019-06-25 | 南京薄幕软件科技有限公司 | A kind of UAV Attitude calculation method based on quaternary number |
| CN109674480A (en) * | 2019-02-02 | 2019-04-26 | 北京理工大学 | A kind of human motion attitude algorithm method based on improvement complementary filter |
| CN111831962A (en) * | 2020-07-14 | 2020-10-27 | 河北科技大学 | Four-rotor unmanned aerial vehicle attitude calculation method and device and terminal equipment |
| CN112284369A (en) * | 2020-10-19 | 2021-01-29 | 沈阳峰尚科技有限公司 | Gyro signal determination method, device and equipment |
| CN112649001A (en) * | 2020-12-01 | 2021-04-13 | 中国航空工业集团公司沈阳飞机设计研究所 | Method for resolving attitude and position of small unmanned aerial vehicle |
| CN112649001B (en) * | 2020-12-01 | 2023-08-22 | 中国航空工业集团公司沈阳飞机设计研究所 | Gesture and position resolving method for small unmanned aerial vehicle |
| CN114608516A (en) * | 2022-01-28 | 2022-06-10 | 北京航天发射技术研究所 | Appearance equipment is surveyed to miniaturized radar developments |
| CN115063945A (en) * | 2022-06-20 | 2022-09-16 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115063945B (en) * | 2022-06-20 | 2023-12-29 | 浙江科技学院 | Fall detection alarm method and system based on attitude fusion calculation |
| CN115683112A (en) * | 2022-10-24 | 2023-02-03 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric tracking system quantization error suppression method based on complementary filter |
| CN115683112B (en) * | 2022-10-24 | 2024-04-09 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric tracking system quantization error suppression method based on complementary filter |
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Application publication date: 20170818 |