微型四旋翼无人机姿态角度准确测量仿真  

Accurate Measurement and Simulation of Micro Quadrotor UAV Attitude Angle

作　　者：宋宇[1] 王博 梁超[1] 宫鸿 

机构地区：[1]长春工业大学计算机科学与工程学院,吉林长春130012

出　　处：《计算机仿真》2017年第12期31-35,共5页Computer Simulation

基　　金：吉林省科技攻关计划重点科技攻关项目(20150204020SF)

摘　　要：无人机系统并不稳定,而系统工作过程中需要对传感器检测到的姿态进行信息融合,以实现对姿态角度的准确测量。有了准确的角度测量结果,并进一步反馈给无人机系统,无人机的稳定飞行才有了可靠保证。然而,准确测量姿态角度需要以有效的姿态融合方法作为前提,所以如何使姿态融合过程更加的高效、合理成为了无人机技术上的难点问题。为了解决上述难点,并克服以往算法中利用EKF(扩展Kalman滤波)所带来的较大滤波偏差,采用一种基于UKF(无迹Kalman滤波)的姿态融合算法。首先将UKF滤波与EKF滤波进行了仿真对比,然后利用MEMS传感器实际采集数据验证UKF的有效性。结果表明,相比之下改进方法能够准确的测量出姿态角,并且提高了测量精度,可有效用于微小型四旋翼无人机的实时姿态调整。Generally, the UAV system is unstable, and the attitude stability control is very important. Maintaining the stability of the attitude can ensure safety, better flight experience and successful execution of the mission. Nonlinear characteristics lead to the difficulty of attitude stability control. Researchers at home and abroad are trying to find a suitable method to solve this problem. A new hybrid control algorithm based on fuzzy PID is proposed to stabilize the attitude of the quadrotor UAV. The algorithm can update the PID controller＇s proportion, integral, differential parameters Kp, Ki and Kd in real time, thus stabilizing the attitude of the quadrotor. In order to study the performance of the new composite algorithm, the quadrotor model was modeled and simulated with MATLAB, and compared with the traditional PID. The simulation results show that the performance of the system is superior to the traditional PID in response time and setting time.

关 键 词：四旋翼 姿态解算 无迹卡尔曼滤波 

分 类 号：V249.122[航空宇航科学与技术—飞行器设计]