四旋翼无人机航迹跟踪的航位推算与卡尔曼滤波设计

Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications Pub Date : 2010-07-15 DOI:10.1109/MESA.2010.5552088

Qing-Li Zhou, Youmin Zhang, Y. Qu, C. Rabbath

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引用次数: 23

摘要

对四旋翼无人机(Qball-X4)的动力学方程进行了分析和建立，提出了基于内外环控制结构的轨迹跟踪控制设计。在航位推算中采用解析几何方法，在轨迹跟踪中采用离散卡尔曼滤波，提高了估计位置的精度。实现了综合在线航路点预规划和轨迹跟踪控制。仿真结果验证了该方法的有效性。

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Dead reckoning and Kalman filter design for trajectory tracking of a quadrotor UAV

The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.

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来源期刊

Proceedings of 2010 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications

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