油气田环境巡视小型无人飞行器航姿控制系统

An Attitude Control System of Small Unmanned Aerial Vehicle for Oil-gas Field Surveillance

针对小型无人飞行器在油气田现场采集信息时的高精度控制问题,提出一个自适应卡尔曼滤波算法来获得高精度姿态信息,并采用优化模糊控制方法构建航向控制算法.基于航向误差在线调整飞控参数,为远程控制中心提供精确的油气田现场信息来提高决策效率.最后,通过一系列的仿真和实际飞行试验验证了该方法的有效性.

Focusing on the high precision control problem of small unmanned aerial vehicle for oil-gas field surveillance, an adaptive Kalman filter algorithm is proposed to get high precision attitude information, and an optimized fuzzy logic control method is trained to realize heading control algorithm. Based on the heading error, flight control parameters are adjusted on-line to provide accurate oil-gas field information for the remote control center to improve decision efficiency. Finally, effectiveness of the proposed method is proved by a series of simulations and flight tests.