基于多传感器融合的四旋翼飞行器姿态监控

Attitude Monitoring of Quad-Rotor Aircraft Based on Multi-Sensor Fusion

设计了一种基于多传感器融合的四旋翼飞行器姿态监控系统。在有限的单片机计算资源下,通过卡尔曼滤波,对陀螺仪、加速度计和磁强计的测量数据进行数据融合,解算出姿态信息。减小了因电机引起的振动、低成本微机电系统(MEMS)传感器误差较大等因素对姿态信息解算时造成的干扰。通过无线将姿态信息传输至上位机,以民航客机中的主飞行显示器(PFD)形式,对飞行参数进行直观的图形化显示,实现了对四旋翼飞行器的姿态进行监控。

One kind of attitude monitoring system of qual-rotor aircraft based on multi-sensor fusion is de- signed. In the limited computing resources, Kalman filter is used for sensor data fusion of gyroscope, accelera- tion and magnetometer to estimate the attitude data. And the interferences caused by the factors such as the mechanical vibration caused by motor, the low accuracy of MEMS（ micro-electro-mechanical systems） sensors, are reduced. The attitude data are transmitted to the PC through wireless, and are shown by the graphical inter- face such as the PFD（ primary flight display） in the civil aircraft. The attitude monitoring of quad-rotor is a- chieved.