| 卡尔曼滤波在飞行器姿态获取系统中的实现 |
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| 引用本文： | 曲春晓,陈伟.卡尔曼滤波在飞行器姿态获取系统中的实现[J].交通与计算机,2011(6):139-142. |
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| 作者姓名： | 曲春晓 陈伟 |
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| 作者单位： | 武汉理工大学信息工程学院,武汉430070 |
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| 基金项目： | 武汉理工大学自主创新基金（批准号：2010ZY-XX-003）资助 |
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| 摘 要： | 介绍了基于ARM的小型无人飞行器姿态获取系统的硬件实现，给出了系统整体方案的设计和具体的硬件选型，重点阐述了飞行器姿态角信号采集单元功能的实现原理和方法，并将低通滤波算法和卡尔曼滤波理论应用于抑制加速度传感器的测量误差。经实验证明，该系统可以精确判定飞行器三个自由度的姿态角度，有助于提升飞行器的飞行品质。
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| 关 键 词： | 姿态获取 加速度传感器 卡尔曼滤波 ARM |
Realization of Kalman Filter in Aircraft Attitude Acquisition System |
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| QU Chunxiao,CHEN Wei.Realization of Kalman Filter in Aircraft Attitude Acquisition System[J].Computer and Communications,2011(6):139-142. |
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| Authors: | QU Chunxiao CHEN Wei |
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| Institution: | (School of Information Engineering, Wuhan University of TecAnology, Wuhan 430070, China) |
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| Abstract: | The hardware design of aircraft attitude control system is introduced. Then, an overall program design and specific hardware selection are given. Moreover, the realization principles and methods of the attitude signal acquisition part are analyzed. The low pass filter and Kalman filter theory are applied to inhibiting the measurement error of acceleration sensor. The experiment results show that the system can actually determine aircraft＇s attitude angles of three degrees of freedom, which helps enhance the aircraft＇s flying qualities. |
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| Keywords: | attitude acquisition acceleration sensor ~ Kalman filter ARM |
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