基于加速度计和角速率陀螺的超小无人直升机姿态控制系统

An Attitude Control System for Small Unmanned Helicopters based on Accelerometer and Angular Rate Gyroscope

设计了一种基于加速度计和角速率陀螺的超小型无人直升机姿态控制系统；由卡尔曼滤波算法融合加速度计和陀螺数据，实时估计最优的直升机姿态信号；根据最优的姿态反馈信号，飞行控制系统采用参数自整定的模糊PID控制方法得到舵机控制信号，从而实现了超小型无人直升机的姿态控制。

An attitude control system for small unmanned helicopters based on accelerometer and angular rate gyroscope is designed in this paper. The data of accelerometer and rate gyroscope is fused by a Kalman filter to get the optimal attitude of helicopters. The flight control system uses the above optimal attitude as feedback signal and adopts fuzzy PID method to get steering engine control signal.