An Attitude Estimation System for PanTilt System

摘要

An attitude estimation of Pan&Tilt system for the small unmanned aerial vehile (SUAV) was gotten by the extended Kalman arithmetic. In order to improve the availble payload of SUAV, The MEMS sensors are selected to design the system. Firstly, the magnetometer was compensated with environment disturb magnetic field. Secondely, a new KALMAN arithmetic was put forward basing on analyzing sevaral kinds of sensors. Furthermore, the Extended KALMAN was gotten through linearization and discretion. Finally, The testings verify the attitude sensors system has a good performance in static and dynamic states, and totally satisfies the requirement of the Pan&Tilt system for SUAV.