基于惯性动作捕捉的多螺旋桨飞行器姿态研究

Research of multi-Rotor attitude posture based on inertial motion capture

目前多螺旋桨飞行器在飞行过程中存在着飞行姿态控制复杂、稳定性差、抗毁性差等问题。针对于此,提出了基于惯性动作捕捉技术的多螺旋桨飞行器的运动姿态研究方案。该方案利用惯性动作捕捉设备,记录飞行器的各个螺旋桨的位置姿态数据,并根据所获取的数据对飞行器进行运动学分析,进而对其飞行姿态规律进行研究。该方案的研究为飞行器的多螺旋桨转速控制提供了理论依据,从而提高多螺旋桨飞行器的稳定性和可靠性。

Most of modern multi-rotor helicopters have been suffering from complicated flight controllability,low flight stability,inefficient airframe survivability,lacking in cockpit＇s ejectability,etc.This paper proposed a novel multi-rotor aircraft design in order to overcome these problems.It utilizes inertial sensors with the motion capturing technique for tracking rotor systems.All sensor information is gathered for carrying out a global control of associated flight attitudes,so that this design can help aircrafts maintain stable flights,safe landings and pilot survivals terms.