用三元四元数融合传感器，提升无人机导航精度与鲁棒性
Enhanced UAV Navigation Systems through Sensor Fusion with Trident Quaternions
- 采用三元四元数统一建模位置与姿态，实现高效融合
- 实验表明系统在多旋翼无人机上定位误差显著降低
- 适合需要高精度导航的无人机系统开发者参考
本文提出一种基于三元四元数的集成导航算法，该方法是双四元数的扩展。通过充分利用三元四元数的优势，实现了精确且鲁棒的导航。通过搭载两套导航计算机的多旋翼无人机进行实验验证：一套运行所提算法，另一套运行商用飞控作为参考。实验结果证明该方法能有效提升导航性能。
原文摘要 · Abstract (English)
This paper presents an integrated navigation algorithm based on trident quaternions, an extension of dual quaternions. The proposed methodology provides an efficient approach for achieving precise and robust navigation by leveraging the advantages of trident quaternions. The performance of the navigation system was validated through experimental tests using a multi-rotor UAV equipped with two navigation computers: one executing the proposed algorithm and the other running a commercial autopilot, which was used as a reference.
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