低成本无人机传感器配置方案的设计与仿真

以降低无人机制造成本为目标,在保证无人机安全自主飞行的前提下,提出了基于GPS和垂直陀螺、GPS和三轴速率陀螺及GPS和低成本惯性组件的3种低成本传感器配置方案,并针对每种方案在工程中遇到的问题,采用低通滤波、高通滤波和卡尔曼滤波等数据融合算法予以解决,最后在MATLAB平台下对每种传感器配置方案进行仿真验证.研究对比表明,对于自身稳定性较好的无人机,该3种传感器配置方案均能够实现姿态控制、高度控制、滚转控制以及航迹控制.

Sensor Configuration and Information Fusion Technique for UAV

Under the premise of UAV' s safe flight,in order to reduce manufacturing costs of UAV,one hand three low-cost sensor configuration that combined with the GPS and the Vertical gyro,the GPS and the three-axis angular rate gyroscope,the low-cost IMU and the GPS have been proposed;the other hand Low-pass filter,high-pass filter,the Kalman filter and so on have been quoted to solve the problem although the implementation of every configuration;at last every sensor configuration has been simulated on MATLAB platf...