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Shang Pu's Projects

low-cost-quadrotor-attitude-solution-based-on-improved-complementary-filtering icon low-cost-quadrotor-attitude-solution-based-on-improved-complementary-filtering

针对低成本MEMS测量器件易受外部扰动，实时姿态解算精度不佳问题，提出了一种基于四元数的改进型互补滤波姿态解算方法。采用四元数对姿态角描述，通过龙格库塔法求解微分方程降低了计算量，利用加速度计测量值进行动态权重修正陀螺仪测量误差，有效抑制了陀螺仪的漂移。为验证算法有效性，在四旋翼飞行器上进行了动静态飞行测试。

quadrotor icon quadrotor

Quadrotor control, path planning and trajectory optimization

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