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《Journal of Zhejiang University(Engineering Science)》 2009-01
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Design and implementation of attitude determination system for mini autonomous helicopter

XU Yu,LI Ping,HAN Bo(Institute of Industrial Process Control,Zhejiang University,Hangzhou 310027,China)  
The GPS-derived acceleration was introduced to correct the gravity field vector in order to compensate for the acceleration effect on the accelerometers and magnetometers based low cost attitude determination system.The nonlinear system with delayed measurement was transformed to a linear system with state dependent noises and temporal correlated observation noises by employing linear pseudo-measurement equation.Then the corresponding linear Kalman filter was applied to the attitude determination system of a mini autonomous helicopter.Experimental results show that the system can reduce the effect of translational acceleration and significantly improve the measurement accuracy of helicopter attitude during maneuvers.
【Fund】: 国家“863”高技术研究发展计划资助项目(2006AA10Z204)
【CateGory Index】: P228.4
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