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Aiming at the attitude solution accuracy and robustness for small UAVs in complex flight conditions, this paper proposes a dynamic adaptive attitude and heading systems(AHRS) estimator with singular value decomposition Cubature Kalman filter(SVDCKF). Considering the problem of random bias for the low-cost attitude sensor, this paper designs a method that the sensor random bias is used as the state vector to eliminate the effect of the sensor random bias. Due to the non-linearity of small UAVs AHRS model and the non-positive definite phenomenon of the covariance matrix, a nonlinear AHRS filter combined with the Cubature Kalman filter and singular value decomposition is designed to improve the attitude solution accuracy. In addition, when the UAV flies in the different flight conditions, the three-axis acceleration of the attitude sensor will affect the attitude solution. Thus, a dynamic adaptive factor based on adaptive filtering is used to adjust continuously the acceleration noise variance to improve the robustness of the AHRS. The experimental results show that the method and algorithm proposed not only improve the attitude solution accuracy, and satisfy the flight requirements of small UAVs, but also eliminate the influence of the attitude sensor random bias and three-axis acceleration for the attitude solution to improve the proposed algorithm robustness and anti-interference.

A dynamic adaptive AHRS algorithm for UAV based on SVDCKF