基于STM32的姿态感知四轴飞行器的设计

Design of Attitude-Aware Quadrilateral Aircraft Based on STM32

为了方便、准确的控制四轴飞行器正常飞行,设计了基于姿态感知的四轴飞行器和手部姿态感知系统。该系统以STM32为核心处理器,通过陀螺仪采集手部姿态信息,对采集的手部姿态信息利用低通滤波器和Kalman相结合进行去噪处理。之后利用联邦Kalman算法对手部姿态信息、机体姿态和气压计的信息进行融合,调节控制四轴飞行器飞行的PID参数,使其能够根据手部姿态进行前、后、左、右、上、下、悬停等飞行。并通过实验仿真验证手部姿态信息与飞行器飞行动作的一致性。通过实验验证可知飞行器的飞行动作和手部姿态保持一致,系统能够稳定工作且满足一般控制要求,并为相关设计提供了参考。

In order to control the normal flight of the four-axis aircraft conveniently and accurately,a four-axis aircraft and hand attitude sensing system based on attitude perception is designed.The system uses STM32 as the core processor to collect the hand posture information through the gyroscope,and combines the collected hand posture information with the low-pass filter and Kalman to perform denoising processing.Then,using the federal Kalman algorithm to match the posture information of the opponent,the posture of the body and the barometer,adjust the PID parameters of the flight of the quadcopter,so that it can perform front,back,left,right,up and down according to the hand posture.Hover and other flights.The experimental simulation is used to verify the consistency of the hand posture information with the aircraft and the flight action.It is proved by experiments that the flight behavior and hand posture of the aircraft are consistent,the system can work stably and meet the general control requirements,and provide reference for related design.