资源描述：
《小型四旋翼无人机姿态测量系统研究》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。
1、IAbstractInrecentyears,withadvancesinscienceandtechnology,particularlythedevelopmentofmicroinertialsensortechnology,theoriginalapplicationofhighprecisionandAdvancedUAVtechnologyhasbeenexpanding,evolvingtowardsthecivilfield.Nowithasbeenwidelyusedintheborderpatrol,disasterrelief,radiationdetectio
2、n,chemicalleaksurveys,aerialphotography,agricultureandotherfields.UAVattitudeisnotonlythebasisofUAVcontrol,butalsothecoreofthenavigation.ItalsohasgreatimpactonthestabilityflightofUAV.Withtheadvantageshaslowcost,gooddynamicperformanceandlightweight,thesmallfour-rotorofUAVbecomesthemostwidelyused
3、.However,performanceandprecisionofinertialsensorusedonasmallfour-rotorUAVshouldbeimproved,becauseindividualsensorcannotmeettherequirementsofattitudemeasurement.Gyroscopesisextremelysensitivetoattitudechange,itcanaccuratemeasureangularrateinashorttime,butthelowcostgyrocancausedrift,soitcannotach
4、ieveattitudemeasurementforalongtime.Accelerometerscanalsobeusedtomeasureattitude,butitcouldnotovercometheinterferenceofUAVacceleratedflight,anduseaccelerometeralonecannotmeasuretheyaw,itmustcooperatewiththemagnetometerfortheyawmeasurements.InordertomeasuretheUAVattitudeaccurately,thispaperdesig
5、nedtheattitudemeasurementsystemviathegyroscope,accelerometermagnetometerandthedataprocessor,andachievethefusionofsensormeasurementsbycalculatingtheaccelerometertrustdegrees,andusingthemethodofKalmanfilterandanattitudesolutionalgorithm.ThuswecanestimatetheerrorfourquaternionandgetattitudeQuatern
6、ion,thengetthetheattitudeangleofUAV.Atthesametime,accordingtotheactualhardwarecondition.ThispaperalsostudiestheextendedKalmanfilterbasedonUDdecomposition,whichovercomestheeffectofroundingerrorofattitudemeasurementsystemeffectively.ExperimentresultsshowthatbothkindsoftheIIKalmanfilteralgorithmca
7、nmeasuretheUAVattitudeangleaccuratelyinlowdynamicflightenvironment.ThetwoKalmanfilteralgorithmsabovehavebeensuccessfullyappliedtosmallquadrotorUAVattitudemeasurementsystem.KeywordsKalmanfilterThefourrotorattitudeestimateQuaternion
