Multi-sensor fusion method using MARG for a fixed-wing unmanned aerial vehicle - Details

Author：

Zuo, Guoyu (Zuo, Guoyu.) (Scholars：左国玉) | Wang, Kai (Wang, Kai.) | Ruan, Xiaogang (Ruan, Xiaogang.) | Li, Zhen (Li, Zhen.)

Indexed by：

EI Scopus

Abstract：

This　paper　designs　a　fixed-wing　UAV　postural　reference　system,　which　uses　magnetometer,　accelerometer　and　gyroscope　(MARG)　to　perform　the　attitude　measurement　of　high　precision.　A　quaternion　is　calculated　using　Gyroscope　sensor　by　means　of　quaternion　algorithm,　and　we　can　get　another　quaternion　using　Magnetometer　and　Accelerometer　sensor　in　the　same　way.　The　postural　data　are　calculated　using　both　two　quaternions　by　two　data　fusion　methods,　adaptive　complementtary　filter　and　extended　Kalman　filter,　respectively.　We　compared　data　precision　from　the　two　filter　methods　in　experiments.　The　results　show　that　both　this　two　fusion　methods　can　meet　the　required　precision　of　attitude　data,　in　which　Kalman　filter　method　is　more　accurate　than　adaptive　complementary　filter　although　the　latter　is　simpler　and　more　practical　than　the　former.　©　2012　IEEE.

Keyword：

Extended Kalman filters Adaptive filters Accelerometers Gyroscopes Data fusion Unmanned aerial vehicles (UAV) Antennas Magnetometers Adaptive filtering Fixed wings

Author Community：

[ 1 ] [Zuo, Guoyu]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 2 ] [Wang, Kai]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 3 ] [Ruan, Xiaogang]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China
[ 4 ] [Li, Zhen]School of Electronic Information and Control Engineering, Beijing University of Technology, Beijing 100124, China