基于低成本MEMS器件的MUAV导航与控制系统的设计

 针对MUAV（MUAV)定点飞行任务中姿态测量精度低所导致的机体不稳定问题，提出了一种在横侧向平面通过控制航向速率陀螺保证平飞，在纵向平面采用过载控制的办法控制高度的控制方法。在此基础上,设计了四航点压线导航方式,并通过飞行试验验证了纵向和横侧向平面控制的稳定性。试验结果表明,所设计的导航与控制方法，在低精度微机电系统（MEMS）的测量装置条件下，能够满足MUAV定点、定航线飞行任务的要求。

Design of Low-cost-MEMS-based MUAV Navigation and Control Systems

To solve the problem of instability due to low measuring precision of sensor during micro unmanned aerial vehicle(MUAV) fixed-destination flight,a new control method is designed in this article with which flat flight is guaranteed by controlling navigation gyroscope angular rate on the transverse and lateral side while flight height is overload-controlled on the longitudinal side.Based above,a control method of four-point pressing line navigation is designed and the control stability on the transverse and lateral side is validated by the flight test.Experimental results show that these navigation and control methods could meet the requirements of fixed-point and fixed-course flight of MUAV with low-precision silicon micro electromechanical systems(MEMS) measuring devices.