四旋翼无人机姿态角算法设计

Algorithm Design of Attitude Angle of Quadrotor UAV

随着信息技术发展,无人机应用日趋广泛。依据四旋翼无人机飞行器姿态角的控制要点和求解方法,应用MPU-6050传感器采集飞行器的姿态信息;根据所采集的姿态信息求解出三个姿态角:仰俯角、横滚角和偏航角;为了降低姿态角合成过程中硬件误差,采用了卡尔曼滤波方法对控制系统精度影响,为了验证所用滤波技术的效果,应用Matlab/Simulink软件进行模型建立和仿真分析,结果表明,卡尔曼滤波适合四旋翼无人机飞行器的姿态解算。

With the development of information technology,the application of unmanned aerial vehicles is becoming more and more extensive.According to the control points and solution methods of the quadrotor UAV aircraft attitude angle,the MPU-6050 sensor is used to collect the attitude information of the aircraft;according to the collected attitude information,three attitude angles are solved:pitch angle,roll angle and yaw angle;In order to reduce the hardware error in the process of attitude angle synthesis,the Kalman filter method is used to affect the accuracy of the control system.In order to verify the effect of the filter technology used,the Matlab/Simulink software is used for model establishment and simulation analysis.The results show that the Kalman filter is suitable The attitude calculation of the quad-rotor UAV aircraft.