使用低成本的MEMS对无人机有效载荷的高度准确的态度估计
Xuyang Zhou1, Long Chen2, Changhao Sun3
1School of Aerospace Science and Technology, Xidian University, Xi'an 710071, China.
Micromachines
|June 27, 2025
概括
一个新的层次态度估计算法 (HDAEA) 提高了无人机在具有挑战性的磁性和动态环境中的准确性. 它有效地减轻磁干扰,可靠地估计无人机的姿态.
科学领域:
- 航空航天工程 航空航天工程
- 机器人技术 机器人技术 机器人技术
- 传感器融合式传感器
背景情况:
- 微电机系统 (MEMS) 传感器对于无人驾驶飞行器 (UAV) 态度估计至关重要,因为它们的成本低,尺寸大.
- 不同的无人机有效载荷带来了诸如磁性干扰和高动态条件等挑战,影响了态度估计的准确性.
- 现有的方法在复杂的操作环境中与非线性和干扰作斗争.
研究的目的:
- 开发一种新的层次态度估计算法 (HDAEA),用于增强无人机有效载荷态度估计.
- 为了应对磁干扰和高动态环境带来的挑战.
- 提高无人机中立场估计的准确性和稳定性.
主要方法:
- 引入了对方向等号矩阵表示的等级解方法,减少了数据维度和非线性.
- 开发了一种用于定量强度计算的磁干扰识别算法.
- 在高度动态的环境中构建了磁干扰和态度角度的误差模型,使用加速度计和磁计数据校准角度.
- 集成HDAEA与错误状态扩展卡尔曼波器,以最大限度地减少系统非线性和线性化错误.
主要成果:
- 提出的等级解方法有效地代表了角度,并减少了观察方程的复杂性.
- 磁干扰识别算法准确量化了干扰强度.
- 错误模型成功校准了角度,减轻了磁干扰对和滚角的影响.
- 实验结果显示,使用HDAEA的无人机有效载荷的态度估计准确度显著提高.
结论:
- 在具有挑战性的环境中,HDAEA为无人机立场估计提供了强大而准确的解决方案.
- 该算法有效地处理磁干扰和高动态条件.
- 这项工作推进了无人机应用中的传感器融合技术,提高了操作可靠性.
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