基于STM32的四旋翼飞行器姿态控制器设计与实现

Design and implementation of four-rotor aircraft attitude controller based on STM32

为了有效控制四旋翼飞行器的飞行姿态,采用STM32微控制器作为主控制器,利用加速度计、陀螺仪、地磁计、气压计等姿态传感器,设计了四旋翼飞行器姿态控制器。为了实现多姿态传感器测量数据的有效融合、四旋翼非线性姿态模型的准确建模,进一步采用扩展卡尔曼滤波器算法进行四旋翼飞行器姿态的精确解算,有效实现了对四旋翼飞行器的姿态控制。实验结果表明,相比于采用常用的姿态解算算法,设计的采用扩展卡尔曼滤波器姿态解算算法的四旋翼飞行器姿态控制器具有更高的控制精度。

In order to effectively control flight attitude of four-rotor aircrafts,STM32 microcontroller is adopted as the main controller,equipped with accelerometer,gyroscope,geomagnetometer,barometer and other attitude sensors,to design the four-rotor aircraft attitude controller.In order to achieve the effective fusion of multi-attitude sensors’measurement data and accurate modeling of four-rotor aircraft’s nonlinear attitude model,the extended Kalman filter algorithm is further used to accurately calculate the attitude of four-rotor aircraft,effectively realizing attitude control.Experimental results show that four-rotor aircraft attitude controller with extended Kalman filter attitude calculation algorithm has higher control precision than with commonly used attitude calculation algorithm.