小型无人机飞控系统硬件及航姿参考系统的设计与实现

发布时间：2018-04-18 04:00

本文选题：无人机 + 飞行控制系统　；参考：《重庆大学》2016年硕士论文

【摘要】：随着国家对低空领域的不断开放,小型无人机在各个领域中被广泛应用。飞行控制系统作为小型无人机的神经中枢,具有极高的研究价值。本文在对国内外小型无人机及飞行控制系统研究现状分析基础上,对飞行控制系统的硬件及航姿参考系统进行了设计与实现。首先,提出了飞行控制系统的总体设计方案,描述了本文所设计飞控系统的功能。硬件系统是整个无人机系统的关键组成部分,是实现各种信息测量、软件运行和飞行控制的硬件基础。硬件系统以STM32F103RE飞控计算机为核心,集成传感器数据采集模块、GPS模块等各功能模块。本文对飞控硬件及主要模块驱动程序进行了详细的设计。其次,对航姿参考系统进行了研究,航姿参考系统是用来解决无人机飞行姿态准确测量的关键技术。本文规定了无人机的姿态表示,详细介绍了方向余弦矩阵的建立过程,以及用陀螺仪输出的角速度迭代更新方向余弦矩阵的过程。针对陀螺仪漂移造成的误差,采用多传感器数据融合的方法对方向余弦矩阵进行校正,有效地提高了姿态测量的精度。最后,按照从局部到整体的顺序对飞控系统进行测试。对主要功能模块的测试验证了各主要功能模块能独立地正常工作;对航姿参考系统进行了静态和动态测试,充分验证了其测量结果的准确性。在实际飞行状态下进行了整机测试,验证了整个系统稳定可靠。
[Abstract]:With the continuous opening of low altitude areas, small UAV has been widely used in various fields. The flight control system of UAV as the nerve center, have high research value. Based on the domestic and foreign research status and the UAV flight control system based on the analysis of hardware and navigation reference system for flight control the system was designed and implemented. First, put forward the overall design of the flight control system, describes the design of the flight control system in this paper. The function of hardware system is the key part of the UAV system, is to achieve a variety of information measurement, software operation and flight control basic hardware. The hardware system is based on the STM32F103RE flight control computer the core of the integrated sensor data acquisition module, GPS module and other modules. The hardware and driver module in detail. At second, the AHRS of AHRS is used to solve the flight attitude of the UAV technology. This paper provides the accurate measurement of UAV attitude, introduces the process of establishing the direction cosine matrix, and the process of updating the direction cosine matrix with iterative angular velocity gyro output. According to the error caused by gyro drift, using multi-sensor data fusion method of direction cosine matrix correction, effectively improve the attitude measurement accuracy. Finally, according to the order from the local to the whole of the flight control system is tested. The main function of the module test verified the main function module can work independently on; AHRS are static and dynamic testing accuracy, fully verify the measurement results. The test in the actual flight conditions, verified The whole system is stable and reliable.

【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;V249.1

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