基于Arduino Uno嵌入式系统的某型机起落架舱水平测量技术研究  

Research on level measurement technology of landing gear cabin of certain aircraft based on Arduino Uno embedded system

作　　者：孙建来 付攀 SUN Jianlai;FU Pan(Aviation Industry Xi’an Aircraft Industry Co.,Ltd.,Xi’an 710089,China)

机构地区：[1]航空工业西安飞机工业有限责任公司,陕西西安710089

出　　处：《电子设计工程》2021年第7期143-146,151,共5页Electronic Design Engineering

摘　　要：针对飞机起落架基于传统人工测量费时、费力的问题,文中基于超声波传感器与深度相机设计了一款起落架舱水平测量系统。为提高测量精度,系统选取3D姿态估计算法来处理深度相机测量结果,并与超声波传感器的测量结果进行融合。为了保证传感器网络在干扰环境下正常工作,方案选取合适的无源RFID构建通信网络。为验证测量系统的性能,使用Gazebo与PX4建立搭载传感网络的飞机模型,由实验测试结果可知,该非接触式水平测量系统的测量偏差稳定在1.6%左右,平均方差低于25。Aiming at the time⁃consuming and laborious problem of the traditional manual measurement of the landing gear,a horizontal measurement system of the landing gear cabin is designed based on the ultrasonic sensor and depth camera.In order to improve the measurement accuracy,the 3D attitude estimation algorithm is selected to process the measurement results of the depth camera,and is fused with the measurement results of the ultrasonic sensor.In order to ensure the normal operation of the sensor network in the interference environment,the scheme selects the appropriate passive RFID to build the communication network.In order to verify the performance of the measurement system,an aircraft model with sensor network is built by using Gazebo and PX4.The experimental results show that the measurement deviation of the non⁃contact horizontal measurement system is stable at about 1.6%,and the average variance is less than 25.

关 键 词：Arduino Uno 深度相机 信息融合 水平测量 

分 类 号：TP393[自动化与计算机技术—计算机应用技术]