基于双重滤波预处理的四旋翼飞行器互补滤波姿态解算方法研究

Mechanics Pub Date : 2024-04-23 DOI:10.5755/j02.mech.34093
Linlin Zhang, Haoyu ZHOU, Jianshu Liang, Meng Xie, Guang Yang
{"title":"基于双重滤波预处理的四旋翼飞行器互补滤波姿态解算方法研究","authors":"Linlin Zhang, Haoyu ZHOU, Jianshu Liang, Meng Xie, Guang Yang","doi":"10.5755/j02.mech.34093","DOIUrl":null,"url":null,"abstract":"In the attitude calculation process of quadrotor, the traditional pre-filtering method has degraded the attitude solving accuracy due to incomplete denoising of accelerometer and gyroscope measurements. Therefore, a complementary filtered attitude solution method based on double filter pre-processing is proposed to address this problem. First, the signal decomposition, hard threshold denoising, and signal reconstruction of the accelerometer and gyroscope acquired data are performed using the Haar real-time wavelet filtering algorithm. The reconstructed signal is then filtered by the infinite impulse response ( IIR ) low-pass filtering algorithm to remove the residual high-frequency noise and complete the dual filtering preprocessing. Next, the gyroscope data is corrected with accelerometer data according to the complementary filtering algorithm. Finally, the corrected data are used to solve the quaternion and thus the attitude angle by combining the Longacurta method. The results show that the dual filtering preprocessing method can further reduce the noise in the measurements of accelerometer and gyroscope. The attitude angle results calculated by the proposed method in the static and dynamic hovering states of the four-rotor aircraft have a small degree of dispersion, which can effectively improve the accuracy of attitude calculation.","PeriodicalId":511970,"journal":{"name":"Mechanics","volume":"48 26","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-04-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research on Complementary Filtered Attitude Solution Method for Quadcopter Based on Double Filter Preprocessing\",\"authors\":\"Linlin Zhang, Haoyu ZHOU, Jianshu Liang, Meng Xie, Guang Yang\",\"doi\":\"10.5755/j02.mech.34093\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In the attitude calculation process of quadrotor, the traditional pre-filtering method has degraded the attitude solving accuracy due to incomplete denoising of accelerometer and gyroscope measurements. Therefore, a complementary filtered attitude solution method based on double filter pre-processing is proposed to address this problem. First, the signal decomposition, hard threshold denoising, and signal reconstruction of the accelerometer and gyroscope acquired data are performed using the Haar real-time wavelet filtering algorithm. The reconstructed signal is then filtered by the infinite impulse response ( IIR ) low-pass filtering algorithm to remove the residual high-frequency noise and complete the dual filtering preprocessing. Next, the gyroscope data is corrected with accelerometer data according to the complementary filtering algorithm. Finally, the corrected data are used to solve the quaternion and thus the attitude angle by combining the Longacurta method. The results show that the dual filtering preprocessing method can further reduce the noise in the measurements of accelerometer and gyroscope. The attitude angle results calculated by the proposed method in the static and dynamic hovering states of the four-rotor aircraft have a small degree of dispersion, which can effectively improve the accuracy of attitude calculation.\",\"PeriodicalId\":511970,\"journal\":{\"name\":\"Mechanics\",\"volume\":\"48 26\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-04-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.5755/j02.mech.34093\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5755/j02.mech.34093","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

在四旋翼飞行器的姿态计算过程中,由于加速度计和陀螺仪测量值去噪不彻底,传统的预滤波方法降低了姿态解算精度。因此,针对这一问题,提出了一种基于双滤波预处理的互补滤波姿态求解方法。首先,使用 Haar 实时小波滤波算法对加速度计和陀螺仪采集的数据进行信号分解、硬阈值去噪和信号重构。然后用无限脉冲响应(IIR)低通滤波算法对重建后的信号进行滤波,以去除残留的高频噪声,完成双重滤波预处理。接着,根据互补滤波算法,用加速度计数据校正陀螺仪数据。最后,利用校正后的数据求解四元数,并结合 Longacurta 方法求解姿态角。结果表明,双重滤波预处理方法可以进一步降低加速度计和陀螺仪测量值中的噪声。在四旋翼飞行器的静态和动态悬停状态下,所提出的方法计算出的姿态角结果具有较小的离散度,能有效提高姿态计算的精度。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Research on Complementary Filtered Attitude Solution Method for Quadcopter Based on Double Filter Preprocessing
In the attitude calculation process of quadrotor, the traditional pre-filtering method has degraded the attitude solving accuracy due to incomplete denoising of accelerometer and gyroscope measurements. Therefore, a complementary filtered attitude solution method based on double filter pre-processing is proposed to address this problem. First, the signal decomposition, hard threshold denoising, and signal reconstruction of the accelerometer and gyroscope acquired data are performed using the Haar real-time wavelet filtering algorithm. The reconstructed signal is then filtered by the infinite impulse response ( IIR ) low-pass filtering algorithm to remove the residual high-frequency noise and complete the dual filtering preprocessing. Next, the gyroscope data is corrected with accelerometer data according to the complementary filtering algorithm. Finally, the corrected data are used to solve the quaternion and thus the attitude angle by combining the Longacurta method. The results show that the dual filtering preprocessing method can further reduce the noise in the measurements of accelerometer and gyroscope. The attitude angle results calculated by the proposed method in the static and dynamic hovering states of the four-rotor aircraft have a small degree of dispersion, which can effectively improve the accuracy of attitude calculation.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
相关文献
二甲双胍通过HDAC6和FoxO3a转录调控肌肉生长抑制素诱导肌肉萎缩
IF 8.9 1区 医学Journal of Cachexia, Sarcopenia and MusclePub Date : 2021-11-02 DOI: 10.1002/jcsm.12833
Min Ju Kang, Ji Wook Moon, Jung Ok Lee, Ji Hae Kim, Eun Jeong Jung, Su Jin Kim, Joo Yeon Oh, Sang Woo Wu, Pu Reum Lee, Sun Hwa Park, Hyeon Soo Kim
具有疾病敏感单倍型的非亲属供体脐带血移植后的1型糖尿病
IF 3.2 3区 医学Journal of Diabetes InvestigationPub Date : 2022-11-02 DOI: 10.1111/jdi.13939
Kensuke Matsumoto, Taisuke Matsuyama, Ritsu Sumiyoshi, Matsuo Takuji, Tadashi Yamamoto, Ryosuke Shirasaki, Haruko Tashiro
封面:蛋白质组学分析确定IRSp53和fastin是PRV输出和直接细胞-细胞传播的关键
IF 3.4 4区 生物学ProteomicsPub Date : 2019-12-02 DOI: 10.1002/pmic.201970201
Fei-Long Yu, Huan Miao, Jinjin Xia, Fan Jia, Huadong Wang, Fuqiang Xu, Lin Guo
来源期刊
自引率
0.00%
发文量
0
期刊最新文献
Experimental Study of Vibration Isolation Using Electromagnetic Damping Vibration Analysis of Porous Functionally Graded Material Truncated Conical Shells in Axial Motion Effects of Weld Heat Input on Mechanical Characteristics of Low Carbon Sheet Steels Research on Complementary Filtered Attitude Solution Method for Quadcopter Based on Double Filter Preprocessing Averaged Heat Fluxes Densities During Condensation and Evaporation of a Water Droplet
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1