基于偏振光的导航定姿自适应滤波算法

针对小型无人机三维空间内姿态解算问题,基于惯性测量单元与偏振光传感器组成的航姿参考系统,提出了一种自适应滤波姿态估计算法。在常规互补滤波算法基础上,为解决实际飞行过程中存在的运动加速度干扰以及天空中水汽分布异常等问题,建立了相应的自适应调节框架结构。实验结果表明:提出的算法能有效抑制外界干扰因素对姿态解算精度的影响,提高了偏振光组合导航系统的稳定性与可靠性,增强了系统对外界复杂因素的抗干扰能力。

Adaptive Filter Algorithm for Navigation Attitude Determination Based on Polarized-Light

To calculate the attitude of small unmanned aerial vehicle in three-dimensional space, based on the attitude heading reference system composed of inertial measurement unit and polarized-light sensor, an adaptive filtering attitude estimation algorithm is proposed. Based on the basic complementary filtering algorithm, a corresponding adaptive adjustment strategy is established for the motion acceleration interference in the actual flight process and abnormal distribution of water vapor in the sky. The experimental results show:the algorithm proposed in this paper can effectively suppress the influence of external disturbance factors on the accuracy of attitude calculation. The method provides an effective solution for the further improvement of the stability of the polarized light integrated navigation system, and improves the anti-interference ability of the navigation system with complex external factors.