基于Mahony滤波器和PID控制器的四旋翼飞行器姿态控制

Mahony Filter Applied to Attitude Estimation and Control of Quadrotor

四旋翼飞行器由于其简单的气动布局和复杂的动力学模型在控制领域引起了研究热潮，姿态估计与控制器设计一直是实现四旋翼飞行器稳定飞行的难点。为实现精确的四旋翼飞行器姿态估计，首先分析了IMU传感器示值组成和误差存在的原因，然后在方向余弦矩阵（DCM）和重正交化的基础上，具体给出了Mahony滤波器的实现流程。通过与扩展卡尔曼滤波器对比表明，该算法不仅能保证很高的姿态估计精度，而且计算时间小于扩展卡尔曼滤波器，有助于提高系统姿态估计的实时性。结合Mahony滤波后的姿态信息，采用嵌套PI-PID控制策略设计了控制器。最后，将姿态估计算法和控制算法应用到实验平台上，可以实现四旋翼飞行器悬停和角度跟踪功能。

The quadrotor has attracts much attention both from research institutes due to its simple aerodynamics and potential commercial value. Attitude estimation and controller design are two difficult parts of stabilizing the flight of quadrotor. Firstly, an effective attitude estimation based on Mahony filter is presented. After the IMU sensors ’readings are analyzed and the algorithm put forward, the filter based on DCM and reorthogonalization applied to a quadrotor is realized. With respect to computation load and system latency, the Mahony filter performs better than Kalman filter. Associate the attitude information filtered with the nested PI-PID control technique, the controller has been designed to regulate the attitude dynamics. Simulation results and flight experiments are satisfactory and the methods have been validated.