坐式垂直起降无人机的一种姿态解算算法的设计  

Design of attitude solution algorithm for tail-sitter VTOL UAV

作　　者：刘东辉[1] 奚乐乐 牛孟然 孙晓云[2] 石楠[1] 

机构地区：[1]河北科技大学电气工程学院,河北石家庄050018 [2]石家庄铁道大学电气与电子工程学院,河北石家庄050043

出　　处：《河北科技大学学报》2016年第1期47-51,共5页Journal of Hebei University of Science and Technology

基　　金：国家自然科学基金(51274144)

摘　　要：固定翼模式水平飞行的坐式垂直起降无人机克服了传统固定翼无人机起降条件要求高的缺点,继承了其总体效率高的优点,拥有巨大的发展潜力和非常广阔的应用前景。坐式垂直起降无人机在起降阶段姿态变化范围大,所使用的姿态传感器在俯仰方向的角度变化超过90°时,根据四元数转换出的欧拉角会出现奇异点,即万向节死锁。从解算算法出发,提出了一种更改旋转顺序的方法,避免奇异点出现。结果表明,此方法可以很好地应用在垂直起降无人机的姿态解算上。The tail-sitter Vertical Takeoff and Landing（VTOL）Unmanned Aerial Vehicle（UAV）,flying in a fixed-wing model,overcomes many shortcomings of traditional fixed-wing UAVs,and inherits the advantage of high overall efficiency,which means it has great development potential and very broad application prospects.The attitude of tail-sitter VTOL UAV shows a wide change range in its takeoff and landing stages,and when the attitude sensor changes more than 90 degrees in pitch direction,the Euler angles converted by the Quaternions will have singular points,which means gimbal deadlock appears.From the solution algorithm,this paper provides a method of changing the order of rotation to avoid the appearance of singular points.The results show that this method can be well applied to the attitude solution of the VTOL UAV.

关 键 词：飞行器控制 坐式垂直起降无人机 姿态测量 四元数 欧拉角 万向节死锁 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]