基于传感器校正与融合农用旋翼无人机姿态解算
在农业生产中,旋翼无人机具有低成本、小型化、结构简单等优点,在农田信息采集过程中,实时姿态信息获取是农用旋翼无人机变量作业控制重要环节,对旋翼无人机飞行稳定性要求较高。为解决这一难题,文章构建基于加速度计、磁力计、陀螺仪惯性测量系统,采用改进欧拉角法描述飞行器姿态解算模型,通过卡尔曼滤波传感器校正与融合,解算出高精度姿态角。结果表明,经基于卡尔曼滤波改进欧拉角算法处理后姿态角动态响应好、精度高,姿态角误差精度小于2°;消除加速度计和磁力计测量噪声同时有效抑制陀螺仪漂移误差。证实该传感器校正与融合算法实用有效,可为农用旋翼无人机飞行控制与变量作业提供准确姿态数据。...
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| Published in | 东北农业大学学报 Vol. 46; no. 11; pp. 70 - 76 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
东北农业大学电气与信息学院,哈尔滨,150030
2015
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| Subjects | |
| Online Access | Get full text |
| ISSN | 1005-9369 |
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| Summary: | 在农业生产中,旋翼无人机具有低成本、小型化、结构简单等优点,在农田信息采集过程中,实时姿态信息获取是农用旋翼无人机变量作业控制重要环节,对旋翼无人机飞行稳定性要求较高。为解决这一难题,文章构建基于加速度计、磁力计、陀螺仪惯性测量系统,采用改进欧拉角法描述飞行器姿态解算模型,通过卡尔曼滤波传感器校正与融合,解算出高精度姿态角。结果表明,经基于卡尔曼滤波改进欧拉角算法处理后姿态角动态响应好、精度高,姿态角误差精度小于2°;消除加速度计和磁力计测量噪声同时有效抑制陀螺仪漂移误差。证实该传感器校正与融合算法实用有效,可为农用旋翼无人机飞行控制与变量作业提供准确姿态数据。 |
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| Bibliography: | 23-1391/S The rotor unmanned aerial vehicle had the advantages of lower-cost, miniaturization, simple structure, and played a very important role in the agricultural production. In the process of farmland information collection, the agricultural rotor unmanned aerial vehicle（uav） played an important link in the realtime position information retrieval. Therefore, the rotor unmanned aerial vehicle＇s flight required a high degree of stability. In this paper, constructd the inertial measurement system of accelerometer, magnetometer and gyroscope, euler angle method was used to describe settlement model aircraft attitude. Calculate the high precision of attitude angle by using Karman filter to fuse the multiple sensors measuring data. The results showed that after Karman filter, the attitude angle could have a quick dynamic response and high precision, make the error precision of attitude angle was less than 2°, eliminate the measurement noise of the accelerometer and magnetometer also effectively suppress the gyro |
| ISSN: | 1005-9369 |