Information fusion algorithm and implementation of strap-down attitude and heading reference system

Computer Engineering and Applications ›› 2007, Vol. 43 ›› Issue (15): 230-233.

• 工程与应用 • Previous Articles Next Articles

Information fusion algorithm and implementation of strap-down attitude and heading reference system

ZHANG Qian^1，2，PEI Hai-long²，LUO Pei²

1.Department of Computer Science，Guangdong Institute of Education，Guangzhou 510303，China
2.Institute of Automation Science and Engineering，South China University of Technology，Guangzhou 510640，China

Received:1900-01-01 Revised:1900-01-01 Online:2007-05-21 Published:2007-05-21
Contact: ZHANG Qian

一种捷联姿态航向参考系统信息融合算法应用

张谦^1，2，裴海龙²，罗沛²

1.广东教育学院计算机科学系，广州 510303
2.华南理工大学自动化科学与工程学院，广州 510640

通讯作者: 张谦

Abstract

Abstract: The small unmanned helicopter often works at especial conditions，so it is necessary to control the attitude of motion.The original attitude information for control system is supplied by all sorts of inertia measure unit.With this measured data，information fusion algorithm is able to design a high precision Attitude and Heading Reference System.Therefore it can accord with the control system demand.The algorithm has been embedded in the attitude control system of a small unmanned helicopter.

Key words: Attitude and Heading Reference System（AHRS）, information fusion, Kalman filtering

摘要： 小型无人直升机通常在特定的环境下进行工作，因此需要对其运动时的姿态进行控制。控制系统所需要的姿态信息通过各种惯性测量仪器得到原始数据。依据这些原始数据设计适当的信息融合算法可以构建高精度的姿态航向参考系统，从而满足控制系统的要求。该算法已应用于小型无人直升机的姿态控制中。

关键词: 姿态航向参考系统, 信息融合, Kalman滤波

ZHANG Qian^1，2，PEI Hai-long²，LUO Pei². Information fusion algorithm and implementation of strap-down attitude and heading reference system[J]. Computer Engineering and Applications, 2007, 43(15): 230-233.

张谦^1，2，裴海龙²，罗沛². 一种捷联姿态航向参考系统信息融合算法应用[J]. 计算机工程与应用, 2007, 43(15): 230-233.

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Information fusion algorithm and implementation of strap-down attitude and heading reference system

一种捷联姿态航向参考系统信息融合算法应用

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