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研究了小型四旋翼飞行器惯导系统的姿态解算和控制问题.首先,文章采用三阶近似毕卡四元数算法来解决四旋翼飞行器的姿态解算问题,进而将该算法与卡尔曼滤波器相结合,避免了陀螺仪的积分累积误差,有效消除了四旋翼飞行器机体振动引起的传感器测量误差.其次,根据姿态解算得到的姿态角,设计了积分分离PID和串级PID控制器进行姿态控制.最后,将设计的姿态解算算法和姿态控制算法应用到四旋翼飞行器平台上,实现了四旋翼飞行器的姿态控制,验证了文章算法的有效性.
The attitude solving and control of the small quadrotor are studied.Firstly, the third-order approximate Pikach quaternion algorithm is used to solve the attitude solving of the quadrotors, and then the algorithm is compared with the Kalman filter , Which avoids the integral error of the gyroscope and effectively eliminates the sensor measurement errors caused by the vibration of the quadrocopter.Secondly, based on the attitude angles obtained by the attitude solution, the integral separation PID controller and cascade PID controller are designed Finally, the attitude control algorithm and attitude control algorithm are applied to the quadrotorcraft platform, and the attitude control of the quadrotorcraft is realized, which verifies the effectiveness of the proposed algorithm.