Research on Near Ground Precision Application Navigation Technology of Plant Protection UAV Based on SRCKF-SLAM

The traditional quaternion is used as the description parameter of the nonlinear state model of the aircraft, and the accuracy of the attitude estimation is presented. A square root cubature Kalman filter algorithm based on quaternion is proposed. The algorithm takes the attitude quaternion error and the gyro drift error as the state quantity, and measures the attitude quaternion of SINS/SLAM navigation. The square root cubature Kalman filter algorithm is used for pose estimation, which not only solves the standardization problem of traditional quaternion, but also reduces the state dimension and complexity of the square root UKF algorithm of traditional quaternion, and improves the numerical stability.