| 摘要: |
| 以四旋翼机器人姿态控制为研究目标，用四元数进行姿态描述，非线性滤波算法为主要研究对象，基于Matlab仿真平台，对四旋翼机器人姿态控制进行设计，并以非线性滤波算法的优化为重点，结合常用的滤波算法进行比较，实验结果表明：RPF更适用于机器人的姿态角度更新计算。 |
| 关键词: 四旋翼 Matlab仿真 四元数 非线性滤波 RPF |
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| Research on Nonlinear Filtering Algorithm Based on Quadrotors |
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CHEN Jun,QIANG Jun
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| Abstract: |
| This paper takes the attitude control of quadrotors as the research object, takes quaternion as pose description, uses nonlinear filtering algorithm as the main research target, based on Matlab simulation platform, makes the attitude control design for the quadrotors, takes the optimization of nonlinear filtering algorithm as the emphasis, and makes comparison by combining usual filtering algorithms.The experimental results show that RPF is more applicable to attitude angel renew calculation. |
| Key words: quadrotors Matlab simulation quaternion nonlinear filtering RPF |
