CAJ | 학술논문

针对现有算法存在的飞行前必须进行环境参数标定，无法抑制飞行过程中环境参数漂移的缺陷，提出了一种无人机红外地平仪姿态解算的改进方法。该算法简化了传感器模型，使得姿态解算方程消去了环境参数，实现了无需在飞行前进行环境参数标定，简化了使用流程，并克服了飞行过程中环境参数漂移对姿态解算精度的影响，还避免了现有方法中需切换解算方程导致的误差跳跃。地面实验证实了改进方法相对现有方法的改进，验证了改进模型的准确性。机载飞行实验结果表明，在实际飞行中姿态角测量精度得到提高，误差连续平滑；滚转角度与俯仰角度的均方根误差由原有的4.4°和2.8°，降低至1.9°和1.8°。利用基于该算法的红外地平仪使固定翼无人机实现了自主飞行。
침대현유산법존재적비행전필수진행배경삼수표정，무법억제비행과정중배경삼수표이적결함，제출료일충무인궤홍외지평의자태해산적개진방법。해산법간화료전감기모형，사득자태해산방정소거료배경삼수，실현료무수재비행전진행배경삼수표정，간화료사용류정，병극복료비행과정중배경삼수표이대자태해산정도적영향，환피면료현유방법중수절환해산방정도치적오차도약。지면실험증실료개진방법상대현유방법적개진，험증료개진모형적준학성。궤재비행실험결과표명，재실제비행중자태각측량정도득도제고，오차련속평활；곤전각도여부앙각도적균방근오차유원유적4.4°화2.8°，강저지1.9°화1.8°。이용기우해산법적홍외지평의사고정익무인궤실현료자주비행。
An improved algorithm for infrared horizon detector(IHD) was proposed to avoid the existing algorithm’s defects such as calibration procedure before launching and environmental parameter drifting in flight. The environmental parameter is eliminated from the attitude equations by using the simplified sensor measurement model. Thus, The IHD is more convenient to be implemented since there is no need to carry out the calibration procedure before launching. The influence on attitude accuracy exerted by environmental parameter drifting is avoided. Moreover, the attitude error’s discontinuity, caused by the procedure which chooses 2 out of 3 measurement equations in the existing algorithm, is avoided. The ground tests are carried out to verify the improvements and the proposed method’s accuracy. The flight experiment results demonstrate that, compared with the existing algorithm, the attitude’s precision is improved and the errors are continuous and smooth, meanwhile the roll and pitch angle’s root mean squared errors are reduced to 1.9° and 1.8° from the original 4.4° and 2.8°. A fixed-wing unmanned aerial vehicle(UAV), equipped with IHD based on the improved algorithm, has realized autonomous flight.