低成本微小型无人机航姿测量系统设计

Design of Low Cost Micro UAV Attitude Heading Measurement System

根据微小型无人机航姿测量需求，利用MEMS传感器设计了一种低成本的航姿测量系统．针对低成本MEMS陀螺仪本身漂移较大、容易发散、无法完成较长时间较高精度测量的特点，提出一种实时性强、计算量小的信息融合方法．利用地球重力场、地磁场2个参考向量，采用互补滤波对不同传感器的数据进行融合，实现提高该航姿测量系统测量精度的目的．实验结果表明，该航姿测量系统的更新速率达到450Hz，姿态角测量误差〈1°，航向角测量误差〈2°，能够满足微小型无人机航向和姿态测量需求．

The information of attitude and heading is needed for Micro UAV. In this paper,a low cost heading and attitude measurement system is designed using MEMS sensors. In order to over- come the drift and divergence of MEMS gyroscope, an efficient and simple data fusion method is proposed. Two reference vectors of the Earth＇s gravitational field and geomagnetic field are used by the complementary filter to improve the measurement accuracy of attitude heading measuring system. Experiment results indicate that the update rate of the parameters of attitude and heading can achieve 450 Hz, the attitude measurement error is less than 1° and the heading measurement error is less than 2°. The system can meet the measurement requirements of Micro UAV.