小型无人机飞行姿态串级控制系统  

The system design of small unmanned aerial vehicle flight attitude control based on STM32

作　　者：程方晓[1] 王海彪[1] 刘璐[1] 

机构地区：[1]长春工业大学电气与电子工程学院,吉林长春130012

出　　处：《长春工业大学学报》2017年第5期453-458,共6页Journal of Changchun University of Technology

基　　金：吉林省科技厅基金资助项目(20170204038SF)

摘　　要：采用四元数互补滤波算法对IMU单元等多传感器采集到的数据进行解算融合,串级PID为小型无人机飞行姿态系统的控制算法。设计了实时监测子系统,实验结果表明,基于STM32的串级PID控制算法可以实现飞行姿态的有效控制。The quaternions complementary filter algorithm is used for data fusion,which are sampled from IMU unit and other sensors.Cascade PID algorithm is applied into the Unmanned Aerial Vehicle(UAV)pose control system with a real-time monitor.Experimental results indicate that the cascade PID algorithm based on STM32 is effective for the UAV pose control.

关 键 词：无人机 姿态 STM32 监控 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]