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PX4-Autopilot/docs/zh/advanced/switching_state_estimators.md
Hamish Willee 88d623bedb
Move PX4 Guide source into /docs (#24490) 
* Add vitepress tree

* Update existing workflows so they dont trigger on changes in the docs path

* Add nojekyll, package.json, LICENCE etc

* Add crowdin docs upload/download scripts

* Add docs flaw checker workflows

* Used docs prefix for docs workflows

* Crowdin obvious fixes

* ci: docs move to self hosted runner

runs on a beefy server for faster builds

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: don't run build action for docs or ci changes

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* ci: update runners

Signed-off-by: Ramon Roche <mrpollo@gmail.com>

* Add docs/en

* Add docs assets and scripts

* Fix up editlinks to point to PX4 sources

* Download just the translations that are supported

* Add translation sources for zh, uk, ko

* Update latest tranlsation and uorb graphs

* update vitepress to latest

---------

Signed-off-by: Ramon Roche <mrpollo@gmail.com>
Co-authored-by: Ramon Roche <mrpollo@gmail.com>
2025-03-13 16:08:27 +11:00

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切换状态估计器

此页显示了可用的状态估计器以及如何在它们之间切换。

:::tip EKF2 is the default and should be used unless you have a reason not to (in particular on vehicles with a GNSS/GPS). The Q-Estimator can be used if you don't have GPS, and is commonly used in multicopter racers. :::

可用的估计器

可用的估计器如下：

  • EKF2 attitude, position and wind states estimator (recommended) - An extended Kalman filter estimating attitude, 3D position / velocity and wind states.

  • LPE position estimator (deprecated) - An extended Kalman filter for 3D position and velocity states.

    :::warning LPE is deprecated. （在开发 PX4 v1.14时）它是工作的，但是不再支持或维护。

:::

  • Q attitude estimator - A very simple, quaternion based complementary filter for attitude. 它不需要 GPS、磁力计或气压计。

如何启用不同的估计器

要启用特定的估算器，请启用其参数并禁用其他参数：

  • EKF2_EN - EKF2 (default/recommended)
  • ATT_EN - Q Estimator (quaternion based attitude estimator)
  • LPE_EN - LPE (not supported for Fixed-wing)

:::warning It is important to enable one, and only one, estimator. If more than one is enabled, the first to publish the UOrb topics vehicle_attitude or vehicle_local_position is used. 如果没有启用，主题将不发布。 :::

:::info For FMU-v2 (only) you will also need to build PX4 to specifically include required estimator (e.g. EKF2: make px4_fmu-v2, LPE: make px4_fmu-v2_lpe). 这是因为 FMU-v2 不具有足够的资源同时包含这两个估计器。 其他的 Pixhawk FMU 版本同时拥有两个估计器。 :::