Linlin Zhang, Haoyu ZHOU, Jianshu Liang, Meng Xie, Guang Yang
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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。
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.