{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,8,11]],"date-time":"2024-08-11T00:13:30Z","timestamp":1723335210313},"reference-count":34,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2022,12,7]],"date-time":"2022-12-07T00:00:00Z","timestamp":1670371200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"Aiming at the problem that the single sensor of the coaxial UAV cannot accurately measure attitude information, a pose estimation algorithm based on unscented Kalman filter information fusion is proposed. The kinematics and dynamics characteristics of coaxial folding twin-rotor UAV are studied, and a mathematical model is established. The common attitude estimation methods are analyzed, and the extended Kalman filter algorithm and unscented Kalman filter algorithm are established. In order to complete the test of the prototype of a small coaxial twin-rotor UAV, a test platform for the dynamic performance and attitude angle of the semi-physical flight of the UAV was established. The platform can analyze the mechanical vibration, attitude angle and noise of the aircraft. It can also test and analyze the characteristics of the mechanical vibration and noise produced by the UAV at different rotor speeds. Furthermore, the static and time-varying trends of the pitch angle and yaw angle of the Kalman filter attitude estimation algorithm is further analyzed through static and dynamic experiments. The analysis results show that the attitude estimation of the UKF is better than that of the EKF when the throttle is between 0.2\u03c3 and 0.9\u03c3. The error of the algorithm is less than 0.6\u00b0. The experiment and analysis provide a reference for the optimization of the control parameters and flight control strategy of the coaxial folding dual-rotor aircraft.<\/jats:p>","DOI":"10.3390\/s22249572","type":"journal-article","created":{"date-parts":[[2022,12,7]],"date-time":"2022-12-07T10:50:52Z","timestamp":1670410252000},"page":"9572","source":"Crossref","is-referenced-by-count":0,"title":["Research on Attitude Detection and Flight Experiment of Coaxial Twin-Rotor UAV"],"prefix":"10.3390","volume":"22","author":[{"given":"Deyi","family":"You","sequence":"first","affiliation":[{"name":"School of Equipment Engineering, Shenyang Ligong University, No.6, Nanping Central Road, Hunnan New District, Shenyang 110159, China"},{"name":"Dezhou Vocational and Technical College, Dezhou 253034, China"}]},{"given":"Yongping","family":"Hao","sequence":"additional","affiliation":[{"name":"School of Equipment Engineering, Shenyang Ligong University, No.6, Nanping Central Road, Hunnan New District, Shenyang 110159, China"}]},{"ORCID":"http:\/\/orcid.org\/0000-0002-7789-8141","authenticated-orcid":false,"given":"Jiulong","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Equipment Engineering, Shenyang Ligong University, No.6, Nanping Central Road, Hunnan New District, Shenyang 110159, China"}]},{"given":"Liyuan","family":"Yang","sequence":"additional","affiliation":[{"name":"School of Equipment Engineering, Shenyang Ligong University, No.6, Nanping Central Road, Hunnan New District, Shenyang 110159, China"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,7]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Raja, V., Solaiappan, S.K., Rajendran, P., Madasamy, S.K., and Jung, S. 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