四旋翼无人飞行器姿态数据采集处理系统

Attitude Data Acquisition and Processing System For Quadrotor UAV

针对机械振动等因素产生的噪声对加速度传感器测量姿态数据的影响,增加了陀螺仪并运用卡尔曼滤波对加速度传感器和陀螺仪的数据进行融合处理;与以往均值和中值等滤波姿态算法相比,采用卡尔曼滤波算法能够获得可靠、稳定的姿态数据,为四旋翼无人飞行器稳定飞行提供有效保障;介绍了姿态传感器和采集处理系统硬件结构及软件实现,运用图形化编程语言LabView实现对四旋翼无人飞行器实时姿态曲线显示、姿态数据存储、回放等功能;经测试,能有效的降低机械振动等噪声对飞行器姿态测量的影响,提高姿态数据估计的精度,达到了预期的目标。

To point against the factors such as the noise of mechanical vibration which can influence the quadrotor UAV attitude, the acceleration sensor and the Kalman filter are used on acceleration sensor and gyroscope datas fusion. Comparing to average and median filtering algorithm, Kalman filtering algorithm can obtain reliable and stable attitude datas, so the quadrotor UAV can fly stably. In this paper atti- tude sensors and acquisition and processing system of the hardware structure and software realization are introduced. The LabView graphical programming language environment is used to show quadrotor UAV attitude curve of posture, real--time data storage and playback and so on. The result shows that the algorithm reduce effectively the noise of mechanical vibration of vehicle attitude measuring influence, and improve the accuracy of attitude estimation, and achieved the desired goal.