摘要
以Atmega128单片机为核心,通过MPU6050传感器采集3轴加速度和陀螺仪数据,将采集到的数据经过卡尔曼滤波,然后通过四元素与欧拉角的转换,最终求解出飞行器在空中的飞行姿态。将遥控模块给定的期望信号与当前飞行器所处的姿态进行对比,然后经过系统中PID的自动调节,消除期望值与实际姿态之间存在的误差,使其可以在较恶劣的环境下稳定地飞行,完成各种飞行动作。最终实现四旋翼飞行器稳定飞行的控制要求。
This design uses Atmega128 single- chip microcomputer as the core, with the help of MPU6050 3 axis acceleration sen-sors and 3 axis of gyroscope. The collected data gose through Kalman filter. Then by the transformation of the four elements and Euler Angle, we finally solve the problem of four rotors of the aircraft in the air flight attitude. Given desired signal by remote control, compared with the current vehicle's attitude, and then through the system PID automatic adjustment, we eliminate the error between expectations and the actual position, making it good in the take- off and landing and stable hover, finishing all kinds of flight movements in relatively poor conditions. Finally realize the four rotor aircraft flying stability control requirements.
出处
《电子技术应用》
北大核心
2016年第10期29-32,共4页
Application of Electronic Technique
基金
国家级大学生创新创业训练计划项目(201510066012)
