基于STM32的四旋翼飞行器的姿态最优估计研究

为了解决传感器自身累计误差和周围环境随机误差对姿态最优估计影响的问题，提出了一种基于STM32的姿态解算系统设计方案。该系统由低成本的航姿参考系统（AHRS）和STM32F405微处理器组成。采用四元数坐标换算，将陀螺仪、加速度计和磁罗盘三者数据进行融合，姿态偏差采用双环PI控制器进行修正，并采用互补滤波算法解算出飞行器姿态信息。搭建了四旋翼飞行器半实物仿真平台，模拟飞行器空中悬停时姿态。实验结果表明，该系统较好地解决了噪声干扰与姿态最优估计问题，实现了长时间稳定地输出准确可靠的姿态数据的要求。...

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Bibliographic Details
Published in	电子技术应用 Vol. 41; no. 12; pp. 61 - 64
Main Author	何川李智王勇军
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 2015 桂林航天工业学院无人遥测重点实验室,广西桂林541004%桂林航天工业学院无人遥测重点实验室,广西桂林,541004
Subjects	PI控制器互补滤波器四元数四旋翼飞行器姿态解算四元数 PI控制器姿态解算四旋翼飞行器互补滤波器
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ISSN	0258-7998
DOI	10.16157/j.issn.0258-7998.2015.12.016

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Summary:	为了解决传感器自身累计误差和周围环境随机误差对姿态最优估计影响的问题，提出了一种基于STM32的姿态解算系统设计方案。该系统由低成本的航姿参考系统（AHRS）和STM32F405微处理器组成。采用四元数坐标换算，将陀螺仪、加速度计和磁罗盘三者数据进行融合，姿态偏差采用双环PI控制器进行修正，并采用互补滤波算法解算出飞行器姿态信息。搭建了四旋翼飞行器半实物仿真平台，模拟飞行器空中悬停时姿态。实验结果表明，该系统较好地解决了噪声干扰与姿态最优估计问题，实现了长时间稳定地输出准确可靠的姿态数据的要求。
Bibliography:	To eliminate the cumulative errors caused by sensor and the impact of posture optimal estimation created by surrounding environment random errors, a quad-rotor attitude algorithm system based on STM32 is discussed in this paper. The system includes microprocessor ST32F405 and low-cost AHRS. Using quaternions coordinate conversion, the system fuses the data of gyroscope, ac- celerometer and magnetic compass, the attitude deviation adopts double loop PI controller and uses complementary filter algorithm to calculate aircraft attitude information. And a semi-physical simulation platform of the four rotor wing aircraft is built to simulate the attitude of the aircraft. Experiments prove that the attitude algorithm system solves the noise interference and optimal estimation of attitude and achieves the requirement of steady, accurate and reliable data output for a long time. He Chuan,Li Zhi,Wang Yongjun （1 .School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004 Ch
ISSN:	0258-7998
DOI:	10.16157/j.issn.0258-7998.2015.12.016