基于多传感器融合的四旋翼飞行器姿态监控  

Attitude Monitoring of Quad-Rotor Aircraft Based on Multi-Sensor Fusion

作　　者：王凯[1] 马腾达[1] 周德新[1] 

机构地区：[1]中国民航大学航空自动化学院,天津300300

出　　处：《测控技术》2015年第3期21-24,共4页Measurement & Control Technology

基　　金：国家自然科学基金项目(61179044);国家重点基础研究发展计划(973计划)项目(2014CB744904);中国民航大学校级重点科研项目(CAUC2009ZD0102)

摘　　要：设计了一种基于多传感器融合的四旋翼飞行器姿态监控系统。在有限的单片机计算资源下,通过卡尔曼滤波,对陀螺仪、加速度计和磁强计的测量数据进行数据融合,解算出姿态信息。减小了因电机引起的振动、低成本微机电系统(MEMS)传感器误差较大等因素对姿态信息解算时造成的干扰。通过无线将姿态信息传输至上位机,以民航客机中的主飞行显示器(PFD)形式,对飞行参数进行直观的图形化显示,实现了对四旋翼飞行器的姿态进行监控。One kind of attitude monitoring system of qual-rotor aircraft based on multi-sensor fusion is de- signed. In the limited computing resources, Kalman filter is used for sensor data fusion of gyroscope, accelera- tion and magnetometer to estimate the attitude data. And the interferences caused by the factors such as the mechanical vibration caused by motor, the low accuracy of MEMS（ micro-electro-mechanical systems） sensors, are reduced. The attitude data are transmitted to the PC through wireless, and are shown by the graphical inter- face such as the PFD（ primary flight display） in the civil aircraft. The attitude monitoring of quad-rotor is a- chieved.

关 键 词：多传感器融合 四旋翼 姿态解算 MEMS PFD 

分 类 号：V241[航空宇航科学与技术—飞行器设计]