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刘旭航; 刘小雄; 章卫国; 杨跃
西北工业大学学报, 02/2021, Volume: 39, Issue: 1Journal Article
TP212.2; 为提升动态环境下无人机导航系统姿态输出的精度,提出一种基于加速度修正模型的无人机姿态解算算法.建立加速度修正模型,求取估计非重力加速度和外部非重力加速度对加速度计输出值进行修正,减弱动态环境下非重力加速度对姿态解算的影响;搭建基于卡尔曼滤波的姿态解算模型,将修正加速度和磁力计解算的姿态角作为滤波模型的量测量,设计基于加速度修正模型姿态解算算法.实验结果表明,该算法可以减弱非重力加速度对姿态解算的干扰,避免无人机导航系统在动态环境中输出姿态角发散的问题,提升动态环境下无人机导航系统姿态输出的精度和抗干扰能力.
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