采用组合滤波算法的无人机航向测量系统研究
为了解决低成本小型无人机航姿精密测量的问题，设计了一种基于MARG传感器的航向测量系统方案。该系统由MEMSIMU、电子罗盘和STM32F407微处理器组成，采用运算量较小的梯度下降算法和改进型二阶互补滤波算法将具有互补特性的电子罗盘和IMU进行数据组合滤波，并基于四元数进行坐标转换，解算出飞行器航向信息。通过对航向测量系统的实验测试及其在旋翼飞行器上的验证分析，结果表明，在没有外界信息辅助的情况下，该系统较好地解决了噪声干扰与航向测量问题，可以满足小型旋翼无人机对航向信息的要求。...
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| Published in | 电子技术应用 Vol. 44; no. 2; pp. 39 - 43 |
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| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| Published |
桂林电子科技大学电子工程与自动化学院,广西桂林541004%桂林电子科技大学电子工程与自动化学院,广西桂林,541004
2018
桂林航天工业学院无人遥测重点实验室,广西桂林541004 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0258-7998 |
| DOI | 10.16157/j.issn.0258-7998.173121 |
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| Summary: | 为了解决低成本小型无人机航姿精密测量的问题，设计了一种基于MARG传感器的航向测量系统方案。该系统由MEMSIMU、电子罗盘和STM32F407微处理器组成，采用运算量较小的梯度下降算法和改进型二阶互补滤波算法将具有互补特性的电子罗盘和IMU进行数据组合滤波，并基于四元数进行坐标转换，解算出飞行器航向信息。通过对航向测量系统的实验测试及其在旋翼飞行器上的验证分析，结果表明，在没有外界信息辅助的情况下，该系统较好地解决了噪声干扰与航向测量问题，可以满足小型旋翼无人机对航向信息的要求。 |
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| Bibliography: | In order to solve the precise heading measurement problems of low cost rotor unmanned aerial vehicle（UAV）, a method of heading measurement system based on MEMS sensors is designed in this paper. The system is composed of MEMS IMU, electronic compass and microprocessor ST32F407. The gradient descent algorithm with lower computational complexity and the improved second-order complementary filtering algorithm are used to fuse the data of the electronic compass and IMU which have the complementary characteristics. Then the coordinate system with quaternion is converted to calculate aircraft heading information. Through the testing experiment of heading measurement system on the rotor UAV, the analysis results show that without external information aided, the system could solve the problem of interference measurement and heading noise, and it can meet the requirements of the heading information of the small rotor UAV. Wang Yongjun1,2,Li Zhi1,2, Li Xiang2 （1 .Key Laboratory of Unmanned Aerial Vehiele Telemetry, Guil |
| ISSN: | 0258-7998 |
| DOI: | 10.16157/j.issn.0258-7998.173121 |