基于激光测距传感器校正四旋翼飞行器姿态的室内组合导航  

Indoor Integrated Navigation for Attitude of Quadrotor Corrected by Distance Laser Sensor

作　　者：邹强 付超 莫申童 ZOU Qiang;FU Chao;MO Shentong(School of Microelectronics,Tianjin University,Tianjin 30072,China;Tianjin International Joint Research Center for Internet of Things,Tianjin 30072,China)

机构地区：[1]天津大学微电子学院,天津300072 [2]天津市物联网国际联合研究中心,天津300072

出　　处：《传感技术学报》2018年第10期1482-1488,共7页Chinese Journal of Sensors and Actuators

基　　金：国家科技支撑计划项目(30249)

摘　　要：为了提高室内环境下四旋翼飞行器的姿态解算精度,提出一种基于激光测距传感器校正四旋翼飞行器姿态的室内组合导航。首先从搭载激光测距传感器的四旋翼飞行器的运动模型出发,采用三角函数方法求解飞行器的姿态角参数,通过对其微分获得角速度数据。其次,将惯性系统中经过互补滤波融合后的陀螺仪、加速度计及磁力计的角速度作为观测量,再应用扩展卡尔曼滤波将惯性系统数据与激光测距传感器获得的角速度数据融合,对旋转矩阵中的误差进行修正。最后验证组合导航的有效性,用带有激光测距传感器及惯性系统的开发板依次进行静态、水平滑动和动态测试,实验测试表明:这种组合导航融合策略使姿态检测系统静态特性和水平滑动特性均有所提高,5 s内,静态误差控制在0.05°以内,水平滑动误差控制在7°;在静态时能够抑制姿态角漂移和滤除噪声,在动态时能够快速跟踪姿态的变化,提高了姿态角的解算精度。In order to improve the accuracy of attitude calculation in indoor environment,an indoor integrated navigation system based on distance laser sensor for correcting the attitude of a quadrotor is proposed.Firstly,starting from the laser motion model,we use the trigonometric function method to solve the attitude parameters of the aircraft,and obtain the angular velocity data by differentiating it.Secondly,we regard angular velocity of the gyroscope,accelerometer and magnetometer by complementary filtering in the inertia system as observations,and then apply the extended Kalman filter to fuse the inertia system data with the angular velocity data obtained by distance laser sensor,besides correct the error in the rotation matrix.Finally,the validity of the integrated navigation is verified.The static,horizontal sliding and dynamic testings are performed successively with the development board with distance laser sensor and inertial system.The experimental results show that this kind of integrated navigation fusion strategy improves the static characteristics and the horizontal sliding characteristics.The static error is controlled within 0.05°,and the horizontal slip error is controlled within 7°in 5 seconds.Under the static testing,the attitude angle drift can be depressed and the noise could be filtered out.Under the dynamic testing,the change of the attitude can be quickly tracked,and the accuracy of attitude algorithm can be enhanced.

关 键 词：四旋翼飞行器 组合导航 扩展卡尔曼滤波 姿态解算算法 激光测距传感器 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]