摘要
根据刚体动力学原理,建立了四旋翼飞行器的动力学模型,利用捷联惯导和GPS组合作为四旋翼飞行器的导航系统,采用方向余弦矩阵的变换方法,实现了对飞行器的姿态解算;采用卡尔曼滤波算法实现姿态角信号的校正,实现了四旋翼飞行器的导航;采用基于PID算法的悬停状态的控制策略,实现了四旋翼飞行器的垂直起降和稳定的悬停.
A dynamic model of four-rotor-aircraft is established according to the principle of rigid body dynamics. SINS and GPS are adopted as four rotor aircraft navigation systems. The aircraft attitude algorithm is realized by the direction cosine matrix transformation method. And Kalman filtering algorithm is adopted to realize the attitude angle signal correction, and the four-rotor-aircraft navigation. The hovering state control strategy based on PID algorithm is researched, and vertical take-off and landing and stable hover of the four-rotor-aircraft throw the adjusting of the control parameter is realized.
出处
《滨州学院学报》
2013年第6期32-37,共6页
Journal of Binzhou University
基金
黑龙江省教育厅科学技术研究项目(12511604)
