基于GPS定位的四旋翼无人机位置跟踪控制  

GPS Positioning-based Position Tracking Control for Quadrocopter Drones

作　　者：杨帆[1,2] 龙坤 YANG Fan;LONG Kun(School of Electrical and Information Engineering,Wuhan Institute of Technology,Wuhan 430205,China;Hubei Video Image and High-Definition Projection Engineering Technology Research Center,Wuhan 430205,China)

机构地区：[1]武汉工程大学电气信息学院,武汉430205 [2]湖北省视频图像与高清投影工程技术研究中心,武汉430205

出　　处：《自动化与仪表》2021年第8期92-97,108,共7页Automation & Instrumentation

摘　　要：针对当前多旋翼无人机的广泛使用以及GPS导航技术的日益成熟,使得GPS在小型飞行器上的应用成为了可能。该文研究了以APM自驾仪为核心的四轴飞行器导航系统的动力学建模原理,建立起了串级PD控制动态模型,通过MATLAB/Simulink仿真后可以得到四旋翼无人机的稳定运行效果。最后对无人机进行了航迹规划,通过实验结果证明了串级PD算法能较好地改善四旋翼无人机搭载GPS时的飞行效果。In view of the current widespread use of multi-rotor UAVs and the increasing maturity of GPS navigation technology,which makes it possible to apply the GPS in small aircrafts.This paper studies the dynamic modeling principle of the four-axis aircraft navigation system with the APM autopilot as the core,and establishes the cascade PD control dynamic model.After the MATLAB/Simulink simulation was established,the stable operation effect of the four-axis aircraft could be obtained.Finally,the trajectory-planning of UAV was carried out,and the experimental results proved that the cascade PD algorithm can improve the flight effect of the quadcopter when equipped with GPS.

关 键 词：APM飞控 GPS模块 串级PD 航迹规划 跟踪定位 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]