Abstract: Design and Implementation of Kalman Filter for Assistant Experiment of Autonomous Helicopter Simulator are presented. The main points are design of Status Equation and Observation Equation, educement of Kalman Filter Equation and Flight Simulator. The system bases on Linux and it receives original data from IMU through Hard Loop. The introduction of Watch Process guarantees the data integrity.

摘要： 介绍Kalman滤波在无人直升机辅助实验中的设计与实现。重点是状态方程和观测方程的确定，以及Kalman滤波方程的推导和飞行模拟器。该系统基于Linux上以C++为开发平台，通过硬回路连接从IMU读取原始数据，引进守护进程确保信息完整性，滤波结果经实验验证，符合设计要求。