Research of heading measurement system for UAV based on combined filter

Dianzi Jishu Yingyong

Wang Yongjun¹  Li Zhi¹  Li Xiang² 

[1] Key Laboratory of Unmanned Aerial Vehicle Telemetry，Guilin University of Aerospace Technology，Guilin 541004，China;School of Electronic Engineering and Automation，Guilin University of Electronic Technology，Guilin 541004，China;

关键词: rotor unmanned aerial vehicle;    gradient descent algorithm;    second-order complementary filter;    combined filter;    heading;   

DOI  :  10.16157/j.issn.0258-7998.173121

来源: DOAJ

【 摘 要 】

In order to solve the precise heading measurement problems of low cost rotor unmanned aerial vehicle(UAV), a method of heading measurement system based on MEMS sensors is designed in this paper. The system is composed of MEMS IMU, electronic compass and microprocessor ST32F407. The gradient descent algorithm with lower computational complexity and the improved second-order complementary filtering algorithm are used to fuse the data of the electronic compass and IMU which have the complementary characteristics. Then the coordinate system with quaternion is converted to calculate aircraft heading information. Through the testing experiment of heading measurement system on the rotor UAV, the analysis results show that without external information aided，the system could solve the problem of interference measurement and heading noise, and it can meet the requirements of the heading information of the small rotor UAV.

【 授权许可】

Unknown