四旋翼飞行器气动建模及状态估计器设计

Aerodynamic Modeling and State Estimation for Quadrotor Vehicles

对四旋翼飞行器的气动模型进行了分析,重点推导了四旋翼飞行器的桨叶挥舞效应和诱导阻力所产生的力与力矩,建立了更为完整的动力学模型。为方便试验辨识,对模型进行适当简化,得到相对简洁的集总气动参数结构。最后依据此改进模型设计了扩展卡尔曼滤波器,对姿态和速度进行了估计,并与传统简化模型进行了对比仿真。结果表明,在动态情况下,基于改进模型的姿态和速度估计精度,相对于传统模型有了大幅提升。

The aerodynamic model of the quadrotor vehicle is analyzed in detail,especially the force and moment produced from the induced resistance and blade flipping. So the established dynamic model is more complete. To facilitate the parameters identification in flight experiments,a relatively simple lumped parameter aerodynamic structure is provided by appropriate simplify. Finally,a extended kalman filter is designed based on the improved model to estimate the attitude and speed. A compared simulation is made with the traditional simplified model. The results showthat under the dynamic condition,the estimation precision of position and speed increases substantially based on the improved model than the traditional model.