注：国家自然科学基金资助项目（NO：61571053）；
北京市属高校创新能力提升计划项目（NO：TJSHG201310772026）
作者：陶子涵，高国伟，徐万芝
单位：北京信息科技大学 信息获取与检测实验室 ，北京 100101
中图分类号：TP212.9; V249     
文献标识码：A    
文章编号：1006-883X(2017)11-0017-05
收稿日期：2017-09-12

摘要：运动体姿态角度测量是姿态控制的重要组成部分。以微小型无人机姿态测量为应用背景，设计了一种基于整合型6轴运动传感器模块MPU-6050的姿态测量系统，针对MPU-6050存在精度低、漂移大而使得系统测量精度下降，且微小型无人机在复杂工作环境时系统出现典型的非线性的问题，提出将无迹卡尔曼滤波算法（UKF）应用于系统的姿态估计，并使用三轴转台检验了系统对各个姿态角度的测量效果。实验验证了姿态测量系统的有效性，并与EKF姿态解算对比，验证了UKF算法的优越性。
关键词：微小型无人机；姿态估计；MPU-6050；无迹卡尔曼滤波(UKF)算法

Design of an attitude measuring system based on MPU-6050 and UKF
TAO Zi-han, GAO Guo-wei, XU Wan-zhi
Information acquisition and detection laboratory, Beijing Information Science and Technology University, Beijing 100101, China
Abstract: Attitude angle measurement of vehicles is an important component of attitude control. With attitude measurement of micro-UAV as application background, an attitude measuring system is designed based on integrated 6-axis motion tracking module MPU-6050.Aiming at the problems that low precision and large drift of MPU-6050 reduce the accuracy of the measuring system and micro-UAV system presents typical nonlinear in complex working environment, the unscented Kalman filter(UKF) algorithm is applied to the attitude estimation of the system. The measuring effect of the system on the attitude angles is tested by using a 3-axis turntable. The experiments verify the validity of the attitude measuring system. Compared with the EKF attitude algorithm, the superiority of UKF algorithm is verified.
Keywords: micro-UAV;attitude estimation;MPU-6050;  unscented Kalman filter(UKF)

阅读全文

备注：2017年 第23卷 第11期