四旋翼飞行器姿态信息的准确性直接影响飞行器的飞行控制效果。介绍了四旋翼飞行器姿态解算常用的梯度下降与互补滤波融合算法和自适应互补滤波算法的原理, 并基于自主研发的IMU系统对两种算法的静态与动态解算效果进行了实际测量和对比分析。实验结果表明, 自适应互补滤波算法在两种情况下的滤波效果均优于梯度下降与互补滤波融合算法。

The accuracy of the attitude information of the quadrotor directly affects the flight control effect of the aircraft.This paper introduces the attitude calculation principle of the fusion algorithm combining gradient descent with complementary filtering and the adaptive complementary filtering algorithm commonly used in quadrotor aircraft.The static and dynamic filtering effects of the two algorithms are measured and compared in an independently-developed IMU system.The experimental results show that the adaptive complementary filtering algorithm is superior to the fusion algorithm of gradient descent and complementary filtering on filtering effect in both cases.