摘要
针对多旋翼无人机自驾仪在某一特定的飞行路径中,飞行控制系统中存在姿态信息的实时获取和精确解算误差较大问题,文章介绍了四旋翼飞行器姿态解算常用四元数法姿态解算方法与互补滤波融合算法原理,并研究了影响姿态解算的重要参数(比例系数Kp)的最佳取值。通过对Mahony算法给予改进,最后在Matlab仿真试验和Mission Planner地面站软件的测试下,比较不同的姿态解算结果,调试得出最佳的比例系数Kp值,得到了更好的姿态解算结果。四旋翼飞行器姿态信息的准确性直接影响飞行器的飞行控制效果,实验结果表明,Mahony自适应互补滤波算法滤波效果良好,可以有效降低低成本IUM系统的误差累加,可以在实际应用中得到较高的姿态精度,对飞行器的控制研究具有一定的参考价值与指导意义。
Aiming at the problem of real-time acquisition and accurate solution of attitude information in flight control system of multi-rotor UAV self-driving instrument in a specific flight path,in this paper,the quaternion method and the principle of complementary filtering fusion algorithm are introduced,and the optimum values of the important parameters(proportional coefficient Kp)affecting attitude calculation are studied.The Mahony algorithm is improved.Finally,under the test of Matlab simulation and Mission Planner ground station software,different attitude calculation results are compared,and the optimal proportional coefficient Kp value is debugged.The better attitude calculation results are obtained.The accuracy of attitude information of Four-rotor aircraft directly affects the flight control effect of the aircraft.The experimental results show that the filtering effect of Mahony adaptive complementary filtering algorithm is good,which can effectively suppress the error accumulation of low-cost IUM system.It can obtain high attitude accuracy in practical application.It has certain reference value and guiding significance for the control research of the aircraft.
作者
徐恩松
陆文华
刘云飞
李宝磊
冯旺
XU Ensong;LU Wenhua;LIU Yunfei;LI Baolei;FENG Wang(School of Air Transportion,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《智能计算机与应用》
2019年第5期80-83,共4页
Intelligent Computer and Applications
基金
国家自然科学基金(51465047)
作者简介
徐恩松(1994-),男,硕士研究生,主要研究方向:数据融合、自主导航。
