微小型无人机航向姿态解算研究

Research on the Heading Attitude Algorithm of Miniaturized UAV

在低成本硬件的约束下,微小型四旋翼无人机在完成翻滚、竞速、旋转等复杂的大幅度机动动作的同时,还必须保证机体航向角的稳定性,这对四旋翼无人机航向姿态解算提出了较高的要求.传统的航向角计算方法由于存在收敛速度过慢,误差较大等问题,导致机体缓慢自旋,影响飞行航向稳定性.故设计了基于优化的HMC5883L和MPU6050融合航向姿态解算新方法,将该算法与陀螺仪积分方法或HMC5883L直接解算方法进行实验对比,实验表明:采用该算法不仅保证了航向角的输出精度也提高了其收敛速度,从而保证了无人机航向的稳定.

Under the constraint of low cost hardware,the miniaturized four rotor unmanned aerial vehicle（UAV）must ensure the stability of the course angle of the airframe while completing the complex large maneuvering actions such as roll,racing and rotation.This is a high requirement for the heading attitude calculation of the four rotor UAV.Due to the slow convergence speed and large error,the traditional method of heading angle calculation leads to slow spin of the airframe and affects the stability of flight course.Therefore,this paper designs a new method of heading attitude algorithm based on optimized HMC5883 Land MPU6050 fusion,and compares the algorithm with the gyroscope integral method or the HMC5883 Ldirect solution method.The experiment shows that the algorithm not only ensures the output accuracy of heading Angle,but also improves the convergence speed,thus ensuring the stability of UAV heading.