一种小型固定翼无人机姿态测量系统的设计

Design of attitude measurement system in mini fixed-wing UAV

针对小型固定翼无人机设计中对姿态测量系统小型化、低成本的需要,设计了以STM32F405为处理核心的低成本的姿态测量系统。系统采用MARG传感器方案,利用优化的梯度递减算法对采集的数据进行处理,将处理结果通过改进的互补滤波算法完成数据的融合,最终完成飞行姿态参数的解算。实验验证表明,所设计的系统具有实时性、低功耗、低成本、小型化等特点,能较好地完成无人机的姿态角数据的测量,具有较强实用性。

For the requirements of miniaturized and low-cost of the attitude measurement system to the mini fixed-wing unmanned aerial vehicle （UAV） design, an attitude measurement system based on STM32F405 was designed. The system calculated the flight parameters by using the MARG （Magnetic, Angular Rate, and Gravity） sensors, the collected data disposed by an optimized gradient descent algorithm and the result of dispose would be fused by improved complementary filter. The experimental data shows that the attitude measurement system has the characteristics of real-time, low power consumption, miniaturization and low cost. It can better finish the measurement of UAV＇ attitude angle data and has strong practicability.