A Fast Weakly-Coupled Double-Layer ESKF Attitude Estimation Algorithm and Application

• DOI: 10.3390/electronics9091465
• Publication Date: 2020-09-07T13:18:16Z
• Authors: Yue Yang; Xiaoxiong Liu; Weiguo Zhang; Xuhang Liu; Yicong Guo
• Keywords: 0209 industrial biotechnology; small UAV; attitude sensors; weakly-coupled; 02 engineering and technology; double-layer; short-range navigation; attitude estimation

Aimed at the problem of small unmanned aerial vehicle (UAV) attitude solution accuracy and real-time performance in short-range navigation flight, this paper, we propose a fast weakly-coupled double-layer error-state Kalman filter (DL-ESKF) estimation algorithm. Considering application navigation, designed an improved error model for low-cost gyroscope/accelerometer/magnetometer devices. In addition, reasonably simplified certain factors that affect to reduce filtering calculation burden. For data coupling phenomenon caused by different sampling frequencies sensor process, new algorithm combined with ESKF hierarchical filter. The first layer filters used accelerometer second magnetometer correct error. We also built offline test platform verify proposed simulation flight environment compared classic algorithms. experimental results demonstrated not only stability but reduced running time.