摘要
采用四元数互补滤波算法对IMU单元等多传感器采集到的数据进行解算融合,串级PID为小型无人机飞行姿态系统的控制算法。设计了实时监测子系统,实验结果表明,基于STM32的串级PID控制算法可以实现飞行姿态的有效控制。
The quaternions complementary filter algorithm is used for data fusion,which are sampled from IMU unit and other sensors.Cascade PID algorithm is applied into the Unmanned Aerial Vehicle(UAV)pose control system with a real-time monitor.Experimental results indicate that the cascade PID algorithm based on STM32 is effective for the UAV pose control.
出处
《长春工业大学学报》
CAS
2017年第5期453-458,共6页
Journal of Changchun University of Technology
基金
吉林省科技厅基金资助项目(20170204038SF)
关键词
无人机
姿态
STM32
监控
Unmanned Aerial Vehicle(UAV)
pose
STM32
monitor
