小型无人机自动驾驶仪硬件设计及姿态算法研究

发布时间：2018-06-22 01:26

本文选题：无人机自动驾驶仪 + ARM　；参考：《沈阳航空航天大学》2016年硕士论文

【摘要】：近年来,小型无人机成为新的研究热点,在军用和民用方面的应用前景十分广阔。因此,本文针对小型无人机自动驾驶仪硬件电路设计和航姿算法进行研究。首先,本文论述了课题的研究背景及研究意义,简单介绍了国内外无人机自动驾驶仪的研究现状以及多传感器数据融合技术的发展状况,总述了本文的主要研究内容。其次,针对小型无人机自动驾驶仪系统总体设计方案展开分析,介绍了无人机自动驾驶仪的原理,分析了设计需求,基于设计需求完成了硬件平台和软件驱动方案的设计。再次,详细介绍了基于ARM处理器的小型无人机自动驾驶仪的硬件平台和驱动软件的设计方案。给出了核心控制单元、电源模块、AHRS模块、无线通信模块、舵机驱动模块的详细电路原理图和设计原理分析;然后简单介绍了PCB及电磁兼容性方面的设计;最后设计了SPI接口、I2C接口、UART和PWM输出的软件驱动程序。之后,介绍了姿态解算的理论基础,包括坐标系定义、坐标系转换、姿态更新算法等;然后完成了MEMS惯性传感器的误差标定和补偿;最后提出了一种基于高斯牛顿和互补滤波(CF)算法相结合的航姿参考系统(AHRS)的设计方法。该算法使用四元数表征姿态,使用MEMS传感器测量的数据,把角速率转化为四元数变化率,然后对其积分得到四元数,文中应用高斯牛顿迭代算法计算得到最优四元数。将计算得到的最优四元数与利用陀螺仪数据得到的四元数结合,通过基于互补滤波算法的姿态求解器解算出姿态角。最后,对整个小型无人机自动驾驶仪系统的进行测试。基于开源上位机监控系统对硬件平台进行测试,包括电源、传感器和PWM输出测试;设计验证试验(仿真实验和实物实验)验证姿态解算算法的可行性和准确性。大量实验测试结果表明,小型无人机自动驾驶仪的硬件平台和航姿解算算法可以满足应用需求。
[Abstract]:In recent years, small unmanned aerial vehicle (UAV) has become a new research hotspot, and has a wide application prospect in military and civilian applications. Therefore, the hardware circuit design and attitude algorithm of UAV autopilot are studied in this paper. Firstly, this paper discusses the research background and significance of the subject, briefly introduces the research status of UAV autopilot at home and abroad and the development of multi-sensor data fusion technology, and describes the main research contents of this paper. Secondly, the overall design scheme of UAV autopilot system is analyzed, the principle of UAV autopilot is introduced, and the design requirements are analyzed. Based on the design requirements, the hardware platform and software drive scheme are designed. Thirdly, the hardware platform and driving software of UAV autopilot based on arm processor are introduced in detail. The detailed circuit schematic diagram and design principle analysis of the core control unit, power module AHRS module, wireless communication module, steering gear driving module are given, and then the PCB and electromagnetic compatibility design are briefly introduced. Finally, the software driver of UART and PWM output from SPI interface and I 2C interface is designed. Then, the theoretical basis of attitude resolution is introduced, including coordinate system definition, coordinate system transformation, attitude updating algorithm, and error calibration and compensation of MEMS inertial sensor. Finally, a design method of attitude reference system (AHRS) based on Gao Si Newton and complementary filtering (CF) algorithm is proposed. The algorithm uses quaternion to represent attitude, uses data measured by MEMS sensors, converts angular rate into quaternion change rate, and then obtains quaternion by integrating it. The optimal quaternion is obtained by using Gao Si Newton iterative algorithm in this paper. The optimal quaternion is combined with the quaternion obtained from gyroscope data, and the attitude angle is calculated by the attitude solver based on complementary filtering algorithm. Finally, the whole UAV autopilot system is tested. The hardware platform is tested based on the open source host computer monitoring system, including power supply, sensor and PWM output test, and the feasibility and accuracy of the attitude calculation algorithm are verified by the design of verification test (simulation experiment and physical experiment). A large number of experimental results show that the hardware platform and attitude calculation algorithm of the UAV autopilot can meet the application requirements.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279

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