基于信息融合的四旋翼飞行器的姿态解算

Quadrotor Aircraft Attitude Algorithm Based on Multisensors' Information Fusion

针对目前旋翼飞行器在高机动和复杂飞行环境下测算的姿态相对误差较大的问题,提出了基于多传感器信息融合的飞行姿态解算。首先通过卡尔曼滤波对陀螺仪输出角速率进行噪声补偿,提高角速率输出精度;然后根据各传感器的噪声频率特性,将加速度计和磁强计所测量的角度信息与滤波之后的角速率进行互补融合求取四元数;通过四元数与姿态旋转矩阵的转换关系获取飞行器姿态信息;使用双闭环PID控制器对飞行器姿态进行控制;最后通过三轴转台实验和实物飞行测试,验证了飞行姿态解算的精准性。

Due to the characters of simple structure, vertical takeoff and landing, and operating easily, the quadrotor has gained increasing attention in atmospheric remote sense, agriculture pest extermination and electrical cable detection. Acquiring high-accuracy attitude is the principal requisite to achieve aircraft＇ s autonomous flight, so this paper brings forward an attitude algorithm scheme based on multi-sensor information fusion theory. Firstly, a Kalman filter has been designed to compensate the noise of gyroscope and obtain a more precise angularrate. Then, fuse the new angularrate with the information of accelerometer and magnetometer to count quaternion, which can work out quadrotor＇ s attitude in accordance with the conversion relation of quaternion and attitude rotation matrix. On the former basis, a double-closed loop PID controller has been designed to regulate the attitude. Finally, validity of the attitude algorithm and the controller has been demonstrated by experiment.