摘要
四旋翼无人机飞行姿态计算主要依靠IMU(惯性测量装置)实时测量数据,该文主要针对IMU惯性元件陀螺仪长时间会出现积分误差的问题,提出基于模糊控制算法的用加速度计数据进行惯导融合自适应互补滤波姿态解算的一种算法,该算法结合陀螺仪测量的角加速度和实时欧拉角的角度和角速度控制滤波器的互补参数,实现自适应互补滤波。最后采用ST公司的STM32f407作为控制芯片制作飞行控制器并自组四旋翼飞行器进行试验。试验结果证明,此算法在实际应用中能够很好地估计机身本身的姿态角,相比无自适应的滤波算法在精确度上有了很大改善,基于该算法并应用GPS实现了四旋翼飞行器的室外定点飞行。
The flight attitude calculation of quadrotor UAV mainly depends on IMU（inertial measurement device） realtime measurement data. This paper mainly focuses on the integration error of IMU inertial component gyro for a long time and proposes the inertial guidance using accelerometer and gyro data based on fuzzy control algorithm. An algorithm that combines adaptive complementary filter attitude calculations. This algorithm combines the measured acceleration of the gyroscope and the real-time Euler angles and angular speeds to control the parameters of the complementary filter to implement adaptive complementary filtering.
作者
陈国成
侯宗琰
CHEN Guo-cheng;HOU Zong-yan(School of Electrical and Information Engineering,Northeast Petroleum University,Daqing 163318,China)
出处
《自动化与仪表》
2018年第8期20-25,共6页
Automation & Instrumentation
关键词
模糊控制
互补滤波
四旋翼
加速度计
自适应
fuzzy control
complementary fihering
quadrotor
accelerometer
adaptive
