Abstract: In the process of attitude calculation of the four axis aircraft, the attitude angle is solved by fusing the multi sensor data. However, there is a problem that the yaw angle of quad - rotor aircraft will change the pitch angle and roll angle in the application of the complementary filtering algorithm to 3D attitude calculation. Aiming at the problem, The solution process of 3D attitude angle of four axis aircraft is analyzed in detail, the improvement of 3D attitude calculation algorithm is also presented, the error compensation component of the complementary filter is modified, the error compensation of the Y axis and the X axis is removed, and the error compensation of the Z axis magnetometer is added. The experimental platform includes STM32 controller, MPU6050 and AK8975 attitude sensor, which the validity of the improved algorithm is verified on. The experimental results show that the improved attitude algorithm can solve the 3D attitude angle of the four axis vehicle in real time and solve the problem of the mutual interference between the attitude angles.

Key words:

Three-dimensional attitude, complementary filter, error compensation, mutual interference

摘要： 在四轴飞行器的姿态解算过程中，一般是通过互补滤波算法融合多传感器数据解算姿态角的，但将互补滤波算法应用到三维姿态解算中遇到了偏航角的变化引起俯仰角和横滚角的变化这一问题。针对这个问题，详细分析了四轴飞行器三维姿态角的解算过程，并对三维姿态解算算法进行改进，修改了互补滤波器中的误差补偿成分，去掉X、Y轴的磁力计误差补偿、添加了Z轴磁力计误差补偿。实验平台包括STM32控制器、MPU6050和AK8975姿态传感器，在该实验平台下验证改进的三维姿态解算算法的有效性。通过实验验证，改进后的姿态解算算法能实时准确的解算出四轴飞行器的三维姿态角，解决了姿态角互相干扰的问题。

关键词: 三维姿态, 互补滤波, 误差补偿, 互相干扰