Journal's Facebook pageAttitude Estimation of aircraft Based on Quaternion SRCKF-SLAM Algorithm
- School of Mechanical and Electrical Engineering, Huainan normal university
232038 Huainan Anhui,P.R.China
lansejingling1988@126.com - Human-computer collaborative robot Joint Laboratory of Anhui Province
232038 Huainan Anhui,P.R.China - School of Information Engineering, Zhengzhou Technology and Business University
475000 Zhengzhou Henan,P.R.China - College of Electronic Information and Electrical Engineering, Anyang Institute OfTechnology
455000 Anyang Henan, P.R. China
Abstract
In complex terrain environments such as high mountains and hills, traditional agricultural machinery cannot accurately complete tasks such as crop management and harvesting. This paper used plant protection drones as carriers to study the observation content of crops during their navigation process. Aiming at the low accuracy of the traditional quaternion cubature Kalman filtering algorithm for the attitude estimation of the carrier nonlinear state model, a quaternon-based square root cubature Kalman filtering algorithm was proposed in this paper.The algorithm takes the attitude quaternion error and the gyro drift error as the state quantity, and measures the attitude quaternion of SINS/SLAM navigation. The square root cubature Kalman filter algorithm is used for pose estimation, which not only solves the standardization problem of traditional quaternion, but also reduces the state dimension and complexity of the square root UKF algorithm of traditional quaternion, and improves the numerical stability. Compared with the quaternion SRUKF and quaternion SRCDKF algorithm, the simulation results showed that the new algorithm estimated the error mean values of the roll angle, pitch angle and runt angle, which are 0.05°, 0.08°, and 0.03°, respectively. The error is the smallest, and algorithm accuracy is about 30% higher than the quaternion SRUKF-SLAM algorithm, and it has high filtering accuracy and numerical stability, and the best time-consuming performanc.
Key words
quaternion, state model, square root Cubature Kalman filter, attitude estimation, numerical stability
Digital Object Identifier (DOI)
https://doi.org/10.2298/CSIS240418058W
Publication information
Volume 21, Issue 4 (September 2024)
Year of Publication: 2024
ISSN: 2406-1018 (Online)
Publisher: ComSIS Consortium
Full text
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How to cite
Wang, D., Zhu, Z., Yu, L., Li, H., Tan, K.: Attitude Estimation of aircraft Based on Quaternion SRCKF-SLAM Algorithm. Computer Science and Information Systems, Vol. 21, No. 4, 1801–1822. (2024), https://doi.org/10.2298/CSIS240418058W
