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《Ordnance Industry Automation》 2011-01
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Application of Kalman Filter in Attitude Measurement for Four-Rotor Aircraft Flight

Wang Shuai,Wei Guo(School of Electrical,Harbin Institute of Technology,Harbin 150001,China)  
Introduce a new algorithm used in a four-rotor aircraft flight attitude measurement system,according to the shortage of simple average filter.On the basis of traditional method of accessing data use acceleration sensors,the fusion with acceleration sensor data and gyroscopes data by Kalman filter,testing in inertial measurement unit with MCU.The results show that the method can avoid dynamic noise of acceleration sensor,and improve the accuracy of attitude measurement of quadrotor helicopter.
【Fund】: 国家大学生科技创新性实验计划项目“用于危险区域物品清理的四旋翼飞行抓捕手”(091021326)
【CateGory Index】: V249.122.2
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