【摘要】 基于扩展状态观测器(ESO),提出了一种状态观测器滞后补偿改进方法，用于imu传感器在不同的采样率和时间延迟的情况下提供连续时间内的无延迟估计。为了达到更好的控制效果，采用SO(3)全姿态控制分离出航向、翻滚、俯仰3个姿态进一步改进了姿态控制器的性能。利用姿态运动学的基本对称性对扩展状态观测器进行了优化，证明了该方法能够再现连续的无时间延迟测量，并在实际测试中证明了即使存在测量噪声和延迟不确定性的情况，飞行器也能达到良好的性能。更多还原

【Abstract】 Based on extended state observer(ESO), an improved lag compensation method for state observer was proposed for imu sensors to provide lag-free estimates in continuous time at different sampling rates and time delays. In order to achieve a better control effect, this design adopts SO(3) full attitude control to separate the three attitudes of heading, roll and pitch to further improve the performance of attitude controller. The extended state observer is optimized by using the fundamental symmetry of attitude kinematics, the method is proved to be capable of reproducing continuous time-delay-free measurements, and in practical tests the aircraft is demonstrated of good performance even in the presence of measurement noise and delay uncertainty.更多还原