| 基于MEMS传感器的四旋翼组合测姿研究 |
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| 引用本文： | 戴邵武,李松林,邢志川,丁广威,袁鹏,康宇航.基于MEMS传感器的四旋翼组合测姿研究[J].导航定位于授时,2017,4(3):27-31. |
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| 作者姓名： | 戴邵武 李松林 邢志川 丁广威 袁鹏 康宇航 |
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| 作者单位： | 1. 海军航空工程学院,山东烟台,264001;2. 91467部队,山东青岛,266311;3. 91206部队,山东青岛,266108;4. 92330部队,山东青岛,266001 |
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| 基金项目： | 国家自然科学基金，航空科学基金 |
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| 摘 要： | 针对四旋翼无人机机体尺寸较小、带载荷能力有限的特点,设计基于低成本MEMS惯性器件的测姿系统,以满足四旋翼无人机在系统控制方面的需求。但是低成本的MEMS惯性器件具有精度低,随机漂移大,容易受到外界环境干扰等缺点。本文充分发挥四旋翼无人机搭载的MEMS惯性器件的功能,分别利用两种方法测量载体姿态,并通过卡尔曼滤波的方法实现这两种测姿方法的数据融合。经过仿真分析,融合后组合测姿系统的测姿精度得到提高。
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| 关 键 词： | 测姿系统 MEMS惯性器件 Kalman滤波 数据融合 |
| 收稿时间： | 2016/8/22 0:00:00 |
| 修稿时间： | 2017/4/24 0:00:00 |
Research on Integrated Attitude Determination Methods
Based on MEMS Device for Quadrotor UAVs |
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| DAI Shao-wu,LI Song-lin,XING Zhi-chuan,DING Guang-wei,YUAN Peng and KANG Yu-hang.Research on Integrated Attitude Determination Methods
Based on MEMS Device for Quadrotor UAVs[J].Navigation Positioning & Timing,2017,4(3):27-31. |
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| Authors: | DAI Shao-wu LI Song-lin XING Zhi-chuan DING Guang-wei YUAN Peng and KANG Yu-hang |
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| Institution: | Naval Aeronautical Engineering Institute |
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| Abstract: | A micro attitude measure system is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles(UAV). But low-cost MEMS inertial devices have low accuracy, great random drift, vulnerable to external environmental interference and other shortcomings. In this paper, Give full play MEMS inertial devices equipped with Quadrotor UAV function. Using two methods to measure attitude and data fusion of these two attitude determination method by Kalman filter. Through simulation analysis, attitude measurement accuracy of integrated attitude determination system has been improved. |
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| Keywords: | attitude measure system MEMS inertial device Kalman filter data fusion |
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