基于捷联惯导的四旋翼无人机的研究与实现  

A Research and Implementation of Quadrotor UAV Based on Strap-down Navigation System

作　　者：辛颂[1] 刘岳飞[1] 雷荣芳[1] 陈昊[1] 

机构地区：[1]西南民族大学,成都610041

出　　处：《空间电子技术》2015年第2期86-91,共6页Space Electronic Technology

基　　金：大学生新创业训练计划项目(编号:S2D140656014)

摘　　要：与传统无人机相比,四旋翼无人机具有轻便、集成度高、系统灵活性强等诸多优势,非常适合用于车流监控、火灾预警等领域。针对四旋翼无人机的非线性、高度不稳定、强耦合,捷联惯导系统累积误差大等问题,本文研究了一种基于捷联惯导系统的四旋翼无人机导航的方法,即根据Inven Sense TM公司提供的DMP算法,实时解析MPU6050集成传感器和HMC5883L三轴磁阻式传感器测量的无人机姿态数据,并利用PID控制算法对无人机姿态进行闭环调节。测试结果表明,无人机可在空中稳定飞行,设计提出的方案有效可行。Quadrotor UAV is widely used in automobile stream supervising fields and low altitude early warning fields due to its convenience, high integration and flexibility compared to the conventional unmanned aerial vehicle. In this paper, a method is proposed to deal with the nonlinearity, highly instability of the quadrotor UAV with big error accumulation by using the Strap-down Navigation System. PID controller and DMP algorithm are introduced for adjusting flight attitude of quadrotor by calculating the dynamic attitude data of 3-axis gyroscope integrated with 3-axis accelerometer device MPU6050, and 3-axis magnetoresistive sensor HMC5883L, simultaneously. The practical experiments of the designed quadrotor UAV show excellent performance with high reliability.

关 键 词：四旋翼无人机 捷联惯导系统 数据融合 姿态解算 DMP 

分 类 号：V279[航空宇航科学与技术—飞行器设计]