四旋翼飞行器航姿参考系统的误差补偿方法研究

Error Compensation and Calibration for Attitude Heading Reference System with Four-rotor Aircraft

摘要:

航姿参考系统是四旋翼飞行器姿态控制和惯性测量的关键,基于MEMS的惯性导航系统长期稳定性较差,陀螺仪传感器和加速度计存在明显的零漂现象,因此在使用前必须对陀螺仪传感器和加速度计的误差系数进行标定；论文首先以航姿参考系统的陀螺仪和加速度计实时数据的采集与处理,并通过对陀螺仪和加速度计的误差产生原理的分析,提出了陀螺仪和加速度计的新型误差补偿模型,并推导了基于高斯牛顿法的误差补偿与标定方法,由此简化了标定过程,得到了标定结果； 实验结果表明了在不提高成本和降低精度的情况下该基于高斯牛顿法的误差补偿与标定方法的有效性。

Abstract:

Attitude heading reference system(AHRS)is the key part for four-rotor aircraft to its posecontrol and inertial measurement. The long-term stability of initial navigation system based on MEMS is poor, there exists obvious zero drift phenomenon, so error compensation and calibration of Gyro and Accelerometer must be completed before using it. Based on real time data collection and processing, and error producing analysis, this paper proposes a novel error compensation model for Gyro and Accelerometer, and this new error compensation and parameter calibration method based on Gauss-Newton algorithm is proposed. The method simplifies calibration procedure and obtains calibrated parameter value. Experimental results verify the effectiveness of the proposed method on the condition of no additional cost and accuracy loss. 