使用陀螺仪提高四旋翼飞行器的状态估计  

Using Gyroscopes to Improve State Estimation for Quadrotor Aircraft

作　　者：张金学[1] 掌明[1] 李媛媛[1] 

机构地区：[1]淮海工学院电子工程学院,江苏连云港222005

出　　处：《计算机测量与控制》2013年第9期2547-2549,2553,共4页Computer Measurement &Control

基　　金：国家自然科学基金面上项目(61174013);江苏省高校自然科学基金(BK20110398);江苏省高校自然科学基金(08KJD520003)

摘　　要：四旋翼飞行器已经引起了学者和无人机爱好者的明显的兴趣;四旋翼飞行器,也叫旋翼直升机,在空气中由4个交叉配置的转子提供升力,它具有垂直起飞和着陆(VTOL)的能力;文章的主要目的就是由可用的传感器设计卡尔曼滤波器来估计配有三轴加速度计和指南针传感器的四旋翼飞行器的状态;所估计的状态将被反馈给LQR控制器,以使得系统跟随给定的参考姿态;而当马达开始工作时,噪声就会出现;噪声对于加速度计来说是个特别严重的问题,而加速度计的数据是被用来估计俯仰和偏航角的;为了尽量减少来自传感器的噪音,将当前传感器的配置与3个角速率陀螺仪传感器融合在一起来提供有噪声测量的更准确的状态估计;仿真和实验结果表明,该方法可以提高卡尔曼滤波器状态估计的质量和数量。Quadrotor aircraft has a visible interest by scholars and admirers of Unmanned Aerial Vehicles . A quadrotor, or quadrotor helicopter, is an aircraft that becomes airborne due to the lift force provided by four rotors usually mounted in cross configuration which is ca- pable of Vertical Take--Off and Landing （VTOL）. The main objective of this paper was to design a Kalman filter to estimate states quadro- tor aircraft having a tri--axis accelerometer and a compass as its sensors from the available sensors. The estimated states will be used to feed a LQR controller to make the system follow a given attitude reference. While the motors of quadrotor aircraft started to work, the noise was appearing. The noise is particularly serious for the accelerometer, whose data is used to estimate the pich and yaw angles. To try to reduce the noise coming from sensors, an option of sensor fusion using the current sensor configuration together with three angular rate gyroscopes is to provide more accurate state estimation from noisy measurements. The results of the simulations and experiments show that the method can improve the quality and quantity of states estimated by the Kalman filter.

关 键 词：四旋翼 无人飞行器 卡尔曼滤波器 LQR控制器 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]