When the traditional error-state Kalman filter algorithm is used for aircraft attitude estimation without heading reference,significant errors can occur due to inaccurate linearization. To address this issue,this paper proposes an error-state Kalman filter algorithm based on the navigation coordinate system (NCS-ESKF). An aircraft attitude estimation system is designed,and both indoor static turntable experiments and DA40 airborne flight experiments with a general aviation aircraft are conducted. Experimental results show that,compared to three traditional algorithms,the proposed NCS-ESKF algorithm produces smaller errors,with mean absolute errors (MAE) for roll and pitch angles of just 0.809° and 0.934°,respectively. During the taxiing and flight phases of the airborne experiments,a segmented threshold method was employed to set different horizontal maneuvering acceleration thresholds,resulting in MAEs of 0.954° for roll and 0.867° for pitch. This effectively improves the accuracy of aircraft attitude estimation. The NCS-ESKF algorithm significantly reduces estimation errors and enhances aircraft attitude estimation performance,contributing to improved stability in flight control for general aviation aircraft.
关键词
姿态估计/误差状态卡尔曼滤波/导航坐标系/飞行实验/机动加速度阈值
Key words
attitude estimation/error state Kalman filter/navigation coordinate system/flight experiments/maneuver acceleration threshold
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