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| 基于MEMS传感器的四旋翼组合测姿研究 |
| 戴邵武1,李松林1,邢志川2,丁广威3,袁鹏4,康宇航1 |
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| (1.海军航空工程学院,山东 烟台 264001;2.91467部队,山东 青岛 266311;3.91206部队, 山东 青岛 266108;4.92330部队,山东 青岛 266001) |
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| 摘要: |
| 针对四旋翼无人机机体尺寸较小、带载荷能力有限的特点,设计基于低成本MEMS惯性器件的测姿系统,以满足四旋翼无人机在系统控制方面的需求。但是低成本的MEMS惯性器件具有精度低,随机漂移大,容易受到外界环境干扰等缺点。本文充分发挥四旋翼无人机搭载的MEMS惯性器件的功能,分别利用两种方法测量载体姿态,并通过卡尔曼滤波的方法实现这两种测姿方法的数据融合。经过仿真分析,融合后组合测姿系统的测姿精度得到提高。 |
| 关键词: 测姿系统 MEMS惯性器件 Kalman滤波 数据融合 |
| DOI： |
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| 基金项目: |
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| Research on Integrated Attitude Determination Methods Based on MEMS Device for Quadrotor UAVs |
| DAI Shao-wu1,LI Song-lin1,XING Zhi-chuan2,DING Guang-wei3,YUAN Peng4,KANG Yu-hang1 |
| (1.Naval Aeronautical Engineering Institute, Yantai，Shandong 264001,China;2.The Troop of 91467, Qingdao，Shandong 266311,China;3.The Troop of 91206, Qingdao，Shandong 266108,China;4.The Troop of 92330, Qingdao，Shandong 266001,China) |
| Abstract: |
| A micro attitude
determination
system is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles(UAV).But low-cost MEMS inertial devices have shortcomings such as low accuracy, great random drift, and is vulnerable to external environmental interference
.In this paper,we make the full
advantage of
MEMS inertial devices equipped on Quadrotor UAV function,and realise data fusion of two attitude determination methods by Kalman filter.Through analysis of simulation, the attitude measurement accuracy of integrated attitude determination system has been improved |
| Key words: Attitude determination system MEMS inertial device Kalman filter Data fusion |
