基于多传感器的四旋翼飞行器硬件电路设计  

Hardware circuit design of four-rotor aerial robot based on multi-sensors

作　　者：于雅莉[1] 孙枫[2] 王元昔[1] 

机构地区：[1]哈尔滨工程大学工程训练中心,黑龙江哈尔滨150001 [2]哈尔滨工程大学自动化学院,黑龙江哈尔滨150001

出　　处：《传感器与微系统》2011年第8期113-115,123,共4页Transducer and Microsystem Technologies

基　　金：中央高校基本科研业务费专项资金资助项目(HEUCF101706)

摘　　要：四旋翼飞行器以其优良的飞行安全性日益受到学术界的关注。为了实现对四旋翼飞行器的控制平台和硬件电路的设计,在对已有样机结构特点与飞行原理分析的基础上,采用多传感器技术对四旋翼飞行器的硬件电路进行了设计。针对陀螺仪的温漂现象,提出了以积分数据补偿和陀螺仪中点修正为核心的"互补算法"。通过仿真实验证明:该设计方法的有效性,解决了温漂问题,为新型无人四旋翼飞行器的研发提供了参考。More attention is paid to four-rotor aerial robot for its excellent flight safety.In order to design the four-rotor aerial rotot control platform and the hardware circuit,on the basis of analyzing the prototype structure characteristics and flight principle,multi-sensor technology is used to design the four-rotor aerial robot hardware circuit.Aimed at temperature drift phenomenon of gyroscope,put forward a complementary algorithm which use integral data compensation and gyroscope mid-point amendment as core.Simulation experiment proves the effectiveness of this method,and provides reference for the research and development of new unmanned four-rotor aerial robot.

关 键 词：四旋翼飞行器 互补算法 加速度计 陀螺仪 自主导航 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]