基于UM6惯导模块的四旋翼飞行器姿态控制  

Attitude Control for a Quadrotor Aircraft Based on UM6-LT

作　　者：白洪瑞[1] 吕强[1] 刘峰[1] 王冬来[1] 

机构地区：[1]装甲兵工程学院控制工程系,北京100072

出　　处：《计算机与数字工程》2012年第8期18-21,共4页Computer & Digital Engineering

摘　　要：针对目前四旋翼飞行器姿态控制过程中姿态解算精度不高的问题,选用成本低、精度相对较高的UM6-LT惯导模块,该模块内置嵌入式ARM处理器,直接通过数字接口输出姿态角。首先分别在电机静止和转动状态下测试了该模块的稳定精度,其次通过协方差调节其内置的扩展卡尔曼滤波器参数。最后结合XBee无线传输模块,使用PID算法,在X650value实验平台下进行飞行试验。结果表明,UM6-LT惯导模块的姿态解算精度可以满足四旋翼飞行器姿态控制要求。Aimed at the precision problem of attitude calculation during the controlling process of the quadrotor aircraft at present,the UM6-LT inertial measurement unit with low cost and higher precision is used to measure the attitude of the quadrotor aircraft.The module produces attitude through digital interface using embedded ARM processor.The performance of the module is measured under the condition which the motors are static and running,as well as the extended Kalman filter parameter by calculates the covariance.The flight control experiment is performed by using PID algorithm based on the X650 value platform combined with XBee wireless transmitting module.As a result,the attitude calculation precision of UM6-LT inertial measurement unit can meet the demand of aircraft attitude control with great performance.

关 键 词：四旋翼飞行器 UM6-LT 姿态控制 XBEE 

分 类 号：TP271.5[自动化与计算机技术—检测技术与自动化装置]