Application of Extended Kalman Filter to Unmanned Helicopter Navigation

被引：0

作者：

Liu, Fuchun ^{[1
]}

Zhang, Qian ^{[1
]}

机构：

[1] South China Univ Technol, Coll Automat Sci & Engn, Key Lab Autonomous Syst & Networked Control, Minist Educ, Guangzhou, Guangdong, Peoples R China

来源：

PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012) | 2012年

关键词：

Unmanned Helicopter; Inertial Navigation; Kalman Filter; Integration of GPS/INS system; IMU;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The attitude control of unmanned helicopter needs accurate acceleration, velocity and attitude information. The error induced by using low cost and low precision inertial component which widely used in the strapdown inertial navigation system cannot be neglected. In order to reduce the effect of the error, the navigation equation of unmanned helicopter is established by using quaternion method and the filtering problem of the GPS/INS navigation system is investigated based on the extended kalman filter theory. The last numerical simulation demonstrates the effectiveness of the proposed design, and the design satisfies the engineering accuracy.

引用

页码：2291 / 2295

页数：5