The pre-process DV-UKF algorithm for high-precision attitude measurement with low-cost inertial sensor
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 16 March 2022
Issue publication date: 30 May 2022
Abstract
Purpose
The purpose of this paper is to propose a high-precision attitude solution to solve the attitude drift problem caused by the dispersion of low-cost micro-electro-mechanical system devices in strap-down inertial navigation attitude solution of micro-quadrotor.
Design/methodology/approach
In this study, a three-stage attitude estimation scheme that combines data preprocessing, gyro drifts prediction and enhanced unscented Kalman filtering (UKF) is proposed. By introducing a preprocessing model, the quaternion orientation is calculated as the composition of two algebraic quaternions, and the decoupling feature of the two quaternions makes the roll and pitch components independent of magnetic interference. A novel real-time based on differential value (DV) estimation algorithm is proposed for gyro drift. This novel solution prevents the impact of quartic characteristics and uses the iterative method to meet the requirement of real-time applications. A novel attitude determination algorithm, the pre-process DV-UKF algorithm, is proposed in combination with UKF based on the above solution and its characteristics.
Findings
Compared to UKF, both simulation and experimental results demonstrate that the pre-process DV-UKF algorithm has higher reliability in attitude determination. The dynamic errors in the three directions of the attitude are below 2.0°, the static errors are all less than 0.2° and the absolute attitude errors tailored by average are about 47.98% compared to the UKF.
Originality/value
This paper fulfils an identified need to achieve high-precision attitude estimation when using low-cost inertial devices in micro-quadrotor. The accuracy of the pre-process DV-UKF algorithm is superior to other products in the market.
Keywords
Acknowledgements
This work was supported by National Natural Science Foundation of China under Grant 62171420 and Natural Science Foundation of Shandong under Grant ZR201910230031.
Funding: Central University Basic Research Fund of China (201962012).
Citation
Wang, R., Wu, J., Li, C., Qi, S., Meng, X., Wang, X. and Zhang, C. (2022), "The pre-process DV-UKF algorithm for high-precision attitude measurement with low-cost inertial sensor", Aircraft Engineering and Aerospace Technology, Vol. 94 No. 7, pp. 1188-1199. https://doi.org/10.1108/AEAT-05-2021-0169
Publisher
:Emerald Publishing Limited
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