唐震宇　张云 

（山东交通学院轨道交通学院，山东 济南 250000）

摘要：针对四轴飞行器的姿态角解算方法存在周期长、精度低的问题，提出扩展卡尔曼滤波方法。首先，分析陀螺仪、加速度计、Mahony互补滤波3种姿态角的解算方法；然后，对扩展卡尔曼滤波方法进行公式推导，指出通过迭代可改变卡尔曼增益大小，提高解算精度；最后，通过实验得出，与Mahony互补滤波相比，扩展卡尔曼滤波更可靠。利用扩展卡尔曼滤波方法进行姿态角解算，可提高四轴飞行器的控制精度和稳定性，满足高精度工作场所的需求，具有一定的实践意义。

关键词：扩展卡尔曼滤波；Mahony互补滤波；四轴飞行器；姿态角解算；数据融合

中图分类号：TP249           文献标志码：A            文章编号：1674-2605(2023)01-0006-06

DOI：10.3969/j.issn.1674-2605.2023.01.006

Multi-sensor Data Fusion for Attitude Angle Calculation of               Four Axis Aircraft

TANG Zhenyu  ZHANG Yun 

(Shandong Jiaotong University Rail Transit College, Jinan 250000, China)

Abstract: Aiming at the problem of long period and low accuracy of attitude angle calculation method for four axis aircraft, an extended Kalman filter method is proposed. First of all, the three attitude angle calculation methods of gyroscope, accelerometer and Mahony complementary filter are analyzed; Then, the formula of extended Kalman filtering method is deduced, and it is pointed out that the Kalman gain can be changed by iteration to improve the solution accuracy; Finally, the experiment shows that the extended Kalman filter is more reliable than Mahony complementary filter. The extended Kalman filter method is used to solve the attitude angle, which can improve the control accuracy and stability of the four axis aircraft, and meet the requirements of high-precision workplaces. It has certain practical significance.

Keywords: extended Kalman filter; Mahony complementary filtering; four axis aircraft; attitude angle calculation; data fusion