四旋翼无人机飞行姿态解算算法的研究

发布时间：2018-01-10 05:30

  本文关键词：四旋翼无人机飞行姿态解算算法的研究　出处：《东北农业大学》2016年硕士论文　论文类型：学位论文

  更多相关文章： 四旋翼 算法 飞行姿态 PID

【摘要】：四轴无人机是一种直起直落的可控飞行系统,通过对四轴无人飞行器的四桨转速控制,可以使其在空中实现可悬停的、全方位的稳定运行。这种可悬停的能力给四旋翼带来更多的能力包括搜救和空中监视作业。四个对称均匀分布在具有四个端点交叉结构上的转子作为四轴无人机的输入,同时有六个状态输出。对四个转子的控制即可改变四轴无人机的姿态。通过对四轴无人机的物理结构和飞行器动理论的研究,结合牛顿力学和刚体力学理论对四轴飞行器进行数学建模,提高系统的可控性和稳定性。在以上理论的基础上,本设计中使用意法半导体(ST)的单片机STM32F103RBT6,通过驱动陀螺仪、地磁传感器、加速度计,将数据滤波后送入四元数转换器中运算,得到四旋翼内环姿态,即偏航角、俯仰角、滚转角。通过读取气压计、GPS数据,可以确定四旋翼的地域坐标。通过对四轴无人机的姿态解算和PID控制,可以保证其飞行的稳定性和可靠性;通过对四轴无人机的轨迹进行规划,可以使其实现自主飞行。四轴无人机的软件算法主要由加速度计校正、姿态计算和姿态控制三方面组成。本文采取最小二乘法校正加速度计。并对其校正效果进行了采样分析,得到了其误差比。通过理论研究和对实验得到数据进行分析,对比了姿态插值法、姿态梯度下降法、姿态互补滤波法的优缺点,选择互补滤波法来解算四轴无人机的姿态,并采样分析了互补滤波法的性能。采用欧拉角法和四元数法进行四轴无人机的姿态控制。最后采用RVMDK编译器进行了算法的软件编程使用的语言为C语言。
[Abstract]:Four-axis unmanned aerial vehicle (FUAV) is a kind of controllable flight system, which can be hovered in the air by controlling the rotating speed of four propellers of the four-axis unmanned aerial vehicle (UAV). Full range of stable operation. This hovering capability brings more capabilities to the four rotors, including search and rescue and aerial surveillance. Four symmetrical and evenly distributed rotors with four endpoints cross structure serve as a four-axis UAV. The input. At the same time, there are six state outputs. The four-rotor control can change the attitude of the four-axis UAV. The physical structure of the four-axis UAV and the dynamic theory of the vehicle are studied. In order to improve the controllability and stability of the system, the mathematical model of the four-axis vehicle is established by combining Newtonian mechanics and rigid body mechanics. In this design, STM32F103RBT6 is used to drive gyroscopes, geomagnetic sensors and accelerometers to filter the data into the quaternion digital converter. The attitude of the inner ring of the four rotors, namely yaw angle, pitch angle and roll angle, is obtained. By reading the barometer data, the regional coordinates of the four rotors can be determined, and the attitude solution and PID control of the four-axis UAV are obtained. It can ensure the stability and reliability of its flight; By planning the trajectory of the four-axis UAV, it can realize autonomous flight. The software algorithm of the four-axis UAV is mainly corrected by accelerometer. The attitude calculation and attitude control are made up of three aspects. The least square method is used to correct the accelerometer and the effect of correction is analyzed. Through theoretical research and experimental data analysis, the advantages and disadvantages of attitude interpolation method, attitude gradient descent method and attitude complementary filtering method are compared. The complementary filtering method is selected to calculate the attitude of the four-axis UAV. The performance of complementary filtering method is also sampled and analyzed. The Euler angle method and quaternion method are used to control the attitude of a four-axis UAV. Finally, the RVMDK compiler is used to program the algorithm in C language. .
【学位授予单位】：东北农业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279
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本文编号：1404066