高亚音速无人机姿态确定与控制系统设计  

Design of attitude determination and control system of high subsonic UAV flight

作　　者：浦黄忠[1] 甄子洋[1] 王道波[1] 胡勇[2] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016 [2]浙江大学电气工程学院,浙江杭州310027

出　　处：《传感器与微系统》2009年第4期72-75,共4页Transducer and Microsystem Technologies

基　　金：国家自然科学基金资助项目(60874037)

摘　　要：姿态确定与控制问题是无人机飞行控制设计中的关键问题。设计了高亚音速无人机的飞行控制系统,其硬件组成部分包括飞控计算机、组合导航计算机、电动伺服舵机、传感器、飞行参数记录仪以及地面检测装置;设计了基于速率陀螺、加速度计、磁航向计、GPS等多传感器系统的无人机姿态测量系统,并给出了基于信息融合卡尔曼滤波的姿态确定算法;设计了基于3个单变量控制回路的无人机姿态控制方案。仿真结果表明了高亚音速无人机的姿态确定方法和姿态控制方法的有效性。Attitude determination and control problems are the key problems of flight control of unmanned aerial vehiele（UAV）. A flight control system of a high subsonic UAV is designed, which includes flight control computer,integrated navigation computer, electric servo actuator, sensors, flight parameters recorder and ground checkout unit. An attitude t system composed of speed gyro, accelerometer, magnetic heading meter and GPS, and an attitude determination algorithm based on information fusion Kalman filtering is given. An attitude control strategy based on three single-variable control loops is designed. The simulation results show the effectiveness of the high subsonic UAV attitude determination and control methods.

关 键 词：无人机 飞行控制系统 姿态确定 姿态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]