Research of Attitude Estimation of UAV Based on Information Fusion of Complementary Filter

Author

Cao Dong ; Qu Qiang ; Li Chuntao ; He Chenglong

Author_Institution

Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2009

fDate

24-26 Nov. 2009

Firstpage

1290

Lastpage

1293

Abstract

With the restriction that the MEMS sensor can not output the attitude angles for UAV directly, the attitude estimation method based on information fusion of complementary filter is designed. Combined with the analysis of the relation between attitude angular rate and attitude angle in different dynamical mode of UAV, concluding high and low frequency, the attitude angle is calculated by complementary filter with the information of attitude angular rate and acceleration information. Simulation demonstrates that this complementary filter can estimate the attitude angles of UAV in different dynamical mode effectively, and conquers the defection of using single filters, which has practical values for attitude estimation of UAV.

Keywords

acceleration control; attitude control; filtering theory; remotely operated vehicles; sensor fusion; space vehicles; UAV; acceleration information; attitude angle; attitude angular rate; attitude estimation; complementary filter; information fusion; Acceleration; Accelerometers; Algorithm design and analysis; Equations; Frequency estimation; Information filtering; Information filters; Micromechanical devices; Noise measurement; Unmanned aerial vehicles; UAV; attitude estimation; complementary filter; information fusion;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Sciences and Convergence Information Technology, 2009. ICCIT '09. Fourth International Conference on

Conference_Location

Seoul

Print_ISBN

978-1-4244-5244-6

Electronic_ISBN

978-0-7695-3896-9

Type

conf

DOI

10.1109/ICCIT.2009.61

Filename

5368536