四旋翼飞行器姿态航向参考系统设计与实现

Design and Implementation of Attitude and Head Reference System for Quadrotor Aero-vehicle

姿态航向参考系统(AHRS)是飞行器的关键载荷,决定了飞行器的飞行安全性与稳定性。为了给四旋翼飞行器控制提供可靠的姿态和航向反馈,设计并实现了基于多传感器数据融合的航向姿态参考系统。系统采用NXP公司的LPC1768嵌入式处理器作为导航计算机通过数字接口接收各个导航传感器(加速度计,角速率陀螺,电子罗盘)的数据并通过卡尔曼滤波完成数据融合和姿态解算,然后输出姿态和航向信息。最后,分析对比四旋翼飞行器搭载该姿态航向参考系统进行飞行验证记录的卡尔曼滤波处理的姿态数据和未经处理的姿态数据,结果表明所设计的姿态航向参考系统能够给四旋翼飞行器的姿态和航向控制提供可靠的姿态和航向反馈,提高四旋翼飞行器的姿态和航向控制精度,提高和改善四旋翼飞行器的姿态和航向稳定性。

Attitude and Heading Reference System(AHRS) which determines the security and stability of flight task is the most key payload to the aero-vehicle.This paper designed and implemented an AHRS to give attitude and heading signal to Quadrotor’ s controller.The system used LPC1768 produced by NXP as a signal processor.Firstly,the guidance computer received the signals from the guidance sensors such as accelerometer,angular rate gyro,electronic compass.Secondly,a rotation quaternion and a Kalman Filter were introduced to fuse the navigation signals.Finally,an analysis was introduced and a quadrotor aero-vehicle flight experiment was carried out to demonstrate the performances of the AHRS.The result indicated that Attitude and Heading Reference System can output accurate altitude and head signals then it effectively and significantly improves the Quadrotor ’ s flight attitude and heading control.