微型飞行器姿态估计系统设计与实现

发布时间：2018-03-20 09:26

本文选题：微型飞行器　切入点：姿态估计　出处：《湖南大学》2015年硕士论文　论文类型：学位论文

【摘要】：姿态估计技术是实现飞行器姿态控制的关键技术之一,在各种飞行器中得到了普遍的应用。随着近年来微型飞行器的快速发展,微型姿态估计系统的研究受到了人们的关注,成为了一个新的研究热点。与传统姿态估计系统不同,针对微型飞行器的姿态估计系统要求具有尺寸小、功耗低的特性,因此带来了设计上的差异。微型飞行器姿态估计系统的设计主要包括基于MEMS惯性器件的姿态解算系统设计,数据融合算法设计,以及相关硬件与软件的设计。MEMS惯性传感器是构成微型姿态估计系统的核心器件。与传统惯性传感器相比,MEMS惯性传感器具备更小的尺寸和更低的功耗,但测量精度也较低,因此为姿态的估计带来了一定的困难。通过使用惯性导航理论,论文实现了以MEMS惯性传感器为数据源,使用四元数方法的姿态解算,但解算结果只在短时间内可靠。为解决姿态解算长期精度不足的问题,需要使用数据融合算法将姿态解算结果与其他信息进行融合,增强MEMS惯性测量系统的稳定性。论文中对互补滤波器与四元数卡尔曼滤波器算法进行了讨论,并最终实现了重力加速度测量的融合。论文将算法应用在嵌入式平台中,包括微型姿态估计系统的电路原理与印刷电路板设计实现,以及通过以状态机与消息机制为核心的软件架构完成了硬件驱动设计与应用程序设计。最后,实现了PC与系统的通讯,并完成了简单的测试。测试结果表明,该姿态估计系统在静态时具有较好的稳定性,在动态过程中能够反映飞行器的运动趋势,对外界干扰具有一定的鲁棒性,具备一定的实用价值。
[Abstract]:Attitude estimation technology is one of the key technologies to realize attitude control of aircraft, and has been widely used in various aircraft. With the rapid development of micro-aircraft in recent years, the research of micro-attitude estimation system has attracted people's attention. Different from the traditional attitude estimation system, the attitude estimation system for the micro vehicle needs the characteristics of small size and low power consumption. The design of attitude estimation system of micro vehicle mainly includes the design of attitude calculation system based on MEMS inertial device and the design of data fusion algorithm. MEMS inertial sensor is the core device of micro attitude estimation system. Compared with traditional inertial sensor, MEMS inertial sensor has smaller size and lower power consumption, but its measurement accuracy is also lower. Therefore, it brings some difficulties for attitude estimation. By using inertial navigation theory, the attitude calculation using MEMS inertial sensor as data source and quaternion method is realized. But the result is only reliable in a short period of time. In order to solve the problem that the long-term accuracy of attitude solution is insufficient, it is necessary to fuse the result of attitude solution with other information by using data fusion algorithm. This paper discusses the complementary filter and the quaternion Kalman filter algorithm, and finally realizes the fusion of gravity acceleration measurement. It includes the circuit principle of the micro attitude estimation system and the design of the printed circuit board, and the hardware driver design and the application program design through the software architecture based on the state machine and message mechanism. The communication between PC and the system is realized, and a simple test is carried out. The test results show that the attitude estimation system has good stability in static state and can reflect the motion trend of the aircraft in the dynamic process. It is robust to external disturbance and has certain practical value.
【学位授予单位】：湖南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V249.1;TP212.9

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