Abstract
Aimed at nonlinear attitude and heading reference and system(AHRS) solution accuracy, this paper presents a novel attitude model of the Singular Value Decomposition (SVD) Cubature Kalman Filter (SVDCKF) fusion algorithm. Firstly, this paper designs the attitude integrated model of small UAV, and uses quaternion to update attitude. Then, in order to solve the nonlinear attitude model, this paper present the SVDCKF to improve the attitude solution accuracy. Finally, the results of numerical simulation and experimental test verify the proposed algorithm has the high attitude accuracy and can meet the flying attitude requirements of small UAV.
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Yang, Y., Liu, X., Liu, X., Guo, Y., Zhang, W. (2022). A Novel AHRS Estimation Algorithm of Small UAV. In: Yan, L., Duan, H., Yu, X. (eds) Advances in Guidance, Navigation and Control . Lecture Notes in Electrical Engineering, vol 644. Springer, Singapore. https://doi.org/10.1007/978-981-15-8155-7_17
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DOI: https://doi.org/10.1007/978-981-15-8155-7_17
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