EKF与UKF在微型直升机姿态估计中的比较
omparison between EKF and UKF in Attitude Estimation System of a Small Helicopter
本文针对SCEADU-50微型直升机，推导其姿态估计系统方程，从IMU和电子罗盘等传感器获取数据，在机载单板机上应用卡尔曼滤波算法进行滤波。针对姿态估计系统的非线性，本文实现了EKF算法和UKF算法，并对其进行仿真和实际飞行的效果对比。仿真中UKF虽然在初值偏差大时收敛稍慢，但其效果明显优于EKF。实际飞行中UKF与EKF收敛速度几乎相同，效果差别不大，没有明显的优势，但UKF的计算速度快于EKF。
his paper deduces the attitude estimation system equation of SCEADU-50 small helicopter. Data is transferred from IMU and compass to on-board single board computer to filter. Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are applied to the system. In simulation, although UKF converges a little slower with large initial error, its effect is better then EKF. While in real flying, it’s not sure which effect is better. However, UKF runs faster than EKF.
李金金
航空航空航天技术
直升机，非线性，卡尔曼滤波，EKF，UKF，姿态估计
Helicopter Nonlinear Kalman filter EKF UKF Attitude Estimation
李金金.EKF与UKF在微型直升机姿态估计中的比较[EB/OL].(2007-05-08)[2025-05-09].http://www.paper.edu.cn/releasepaper/content/200705-65.点此复制
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