低成本无人机传感器配置方案的设计与仿真

Sensor Configuration and Information Fusion Technique for UAV

以降低无人机制造成本为目标,在保证无人机安全自主飞行的前提下,提出了基于GPS和垂直陀螺、GPS和三轴速率陀螺及GPS和低成本惯性组件的3种低成本传感器配置方案,并针对每种方案在工程中遇到的问题,采用低通滤波、高通滤波和卡尔曼滤波等数据融合算法予以解决,最后在MATLAB平台下对每种传感器配置方案进行仿真验证。研究对比表明,对于自身稳定性较好的无人机,该3种传感器配置方案均能够实现姿态控制、高度控制、滚转控制以及航迹控制。

Under the premise of UAV＇s safe flight, in order to reduce manufacturing costs of UAV, one hand three low-cost sensor configuration that combined with the GPS and the Vertical gyro, the GPS and the three - axis angular rate gyroscope, the low - cost IMU and the GPS have been proposed ; the other hand low -pass filter, high -pass filter, the Kalman filter and so on have been quoted to solve the problem although the implementation of every configuration; at last every sensor configuration has been simulated on MATLAB platform. Comparative studies show that the three sensOrs targeted programms can achieve attitude control, the hight control and the track control for the UAN in better own stability.