采用卡尔曼滤波器对系统的俯仰角、 滚转角和航向角的误差进行最优估计；设计数据融合的判别准则，并根据判据的判断结果调整卡尔曼 滤波器中的量测信息，使系统可用于小型无人机的定高自主飞行-Kalman filter system pitch angle, roll angle and yaw angle error optimal estimation design data fusion criterion, and adjust according to the criterion of

随机调制信号下的模拟ppm，基于互功率谱的时延估计，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角。- Random ppm modulated analog signal under Based on the time delay estimation of power spectrum, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch

现代信号处理中谱估计在matlab中的使用，包含飞行器飞行中的姿态控制，如侧滑角，倾斜角，滚转角，俯仰角，基于多相结构的信道化接收机。- Modern signal processing used in the spectral estimation in matlab, It comprises aircraft flight attitude control, such as slip angle, tilt angle, roll angle, pitch angle, Channeliz