UAV attitude calculation algorithm based on acceleration correction model
| العنوان: | UAV attitude calculation algorithm based on acceleration correction model |
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| المؤلفون: | Xiaoxiong Liu, Yue Yang, Weiguo Zhang, Xuhang Liu |
| المصدر: | Xibei Gongye Daxue Xuebao, Vol 39, Iss 1, Pp 175-181 (2021) |
| بيانات النشر: | The Northwestern Polytechnical University, 2021. |
| سنة النشر: | 2021 |
| مصطلحات موضوعية: | attitude calculation, dynamic environment, Magnetometer, Computer science, Accelerometer, Interference (wave propagation), 01 natural sciences, law.invention, Computer Science::Robotics, Acceleration, kalman filtering, law, Control theory, Divergence (statistics), 0105 earth and related environmental sciences, Motor vehicles. Aeronautics. Astronautics, experiment, 010505 oceanography, uav, 010401 analytical chemistry, Calculation algorithm, General Engineering, acceleration correction model, Navigation system, TL1-4050, Kalman filter, 0104 chemical sciences, Physics::Accelerator Physics |
| الوصف: | 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. |
| اللغة: | Chinese |
| تدمد: | 2609-7125 1000-2758 |
| الوصول الحر: | https://explore.openaire.eu/search/publication?articleId=doi_dedup___::7895d15f37c1a820a3d779c34afbed8aTest https://www.jnwpu.org/articles/jnwpu/full_html/2021/01/jnwpu2021391p175/jnwpu2021391p175.htmlTest |
| حقوق: | OPEN |
| رقم الانضمام: | edsair.doi.dedup.....7895d15f37c1a820a3d779c34afbed8a |
| قاعدة البيانات: | OpenAIRE |
| تدمد: | 26097125 10002758 |
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