摘要
针对普通四旋翼飞行器携行不便、振动干扰的问题,设计了一种基于双处理器的折叠式四旋翼飞行器。为抑制翼臂振动对加速度计信号的干扰,提出滑动平均滤波对其进行处理。考虑到成本和飞行器的结构特点,设计了基于双处理器的硬件电路,以实现飞行器的稳定悬停。试验结果表明:滤波后的加速度计信号波动范围仅为±0.2 m/s2,且滞后很小;基于双处理器的卡尔曼姿态融合算法的动态性和稳定性良好,低空悬停和高空悬停时,飞行器姿态角的波动范围分别是±0.5°和±1°,满足悬停要求,且当受到较大干扰时,仅需0.4 s飞行器便能重新保持悬停状态。
Aiming at the problem that the ordinary quadrotor is inconvenient to carry out and the vibration is easily disturbed, a folding quadrotor based on the dual processor is designed. In order to suppress the interference of the vibration of the wing, the moving average filter is put forward. Considering the structural characteristics of an aircraft, the hardware circuit based on the dual processor is designed to realize the stable hovering of the aircraft. Flight tests show that the filtered aecelerometer fluctuation range of the signal is only ±0.2 m/s^2, and the lag is very small ; Kalman attitude fusion algorithm based on the dual processor has good performance of dynamics and stability. Quadrotor attitude angle ranges are ±0.5° and ±1° respectively when hovering at low and high altitudes, which satisfy the hover requirements, and when subjected to large disturbances, quadrotors can return to maintain hover condition only through 0.4 s.
出处
《南京理工大学学报》
EI
CAS
CSCD
北大核心
2016年第4期386-391,共6页
Journal of Nanjing University of Science and Technology
基金
国家自然科学基金(51205209
51205204)
中国博士后科学基金(2013M531360)
关键词
折叠式四旋翼
双处理器
硬件电路
卡尔曼滤波
姿态融合
加速度计
滑动平均滤波
飞行试验
fohling quadrotors
dual processors
hardware circuits
Kalman filtering
attitude fusion
accelerometers
moving average tilting
flight tests
作者简介
胥加林（1990-），男，硕士生，主要研究方向：汽车主动安全技术、嵌入式开发，E-mail：xjl7613@163．com；
通讯作者：王洪亮（1984-），男，博士，副教授，主要研究方向：汽车电子、气动技术，E-mail：whl343@163．com。
