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。...
Saved in:
| Published in | 电子技术应用 Vol. 41; no. 12; pp. 61 - 64 |
|---|---|
| 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
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 | |
| Online Access | Get full text |
| ISSN | 0258-7998 |
| DOI | 10.16157/j.issn.0258-7998.2015.12.016 |
Cover
| Abstract | 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。 |
|---|---|
| AbstractList | 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。 V249; 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. |
| Author | 何川 李智 王勇军 |
| AuthorAffiliation | 桂林电子科技大学电子工程与自动化学院,广西桂林541004 桂林航天工业学院无人遥测重点实验室,广西桂林541004 |
| AuthorAffiliation_xml | – name: 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;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 |
| Author_FL | He Chuan Wang Yongjun Li Zhi |
| Author_FL_xml | – sequence: 1 fullname: He Chuan – sequence: 2 fullname: Li Zhi – sequence: 3 fullname: Wang Yongjun |
| Author_xml | – sequence: 1 fullname: 何川 李智 王勇军 |
| BookMark | eNo9jztLA0EcxLeIYIz5EoJY3bn_3du7Xawk-IKIhdeHvVe8oBvNIRKrCOkUK8FHRA0WaiNWFuEgX-Ye8VuYI2I1MPNjhllAJdVWPkLLgHUwgVmrLT2MIqVjwrhmCcF1goHpQHQMZgmV__15VI2i0MEYABPOaBmtpc-jZHS9b-9Skj_008Egu73Mx_HP69NkeJXevxfm2zjrXWSPvSS-S-Kvyecwf7nJP74X0VwgDyO_-qcVZG9u2LVtrb63tVNbr2suE4YmLWwETgAe575kYFCHu8Kk0pM0EBgEMINJxqXwLUk97HDHo7yIAsKEwzGtoJVZ7ZlUgVTNRqt92lHTwYZ33oq63eIrEEyMKbk0I92DtmqehFP2uBMeyU63YZomNyhjgv4CcoVsLw |
| ClassificationCodes | V249 |
| ContentType | Journal Article |
| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| Copyright_xml | – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
| DBID | 2RA 92L CQIGP W92 ~WA 2B. 4A8 92I 93N PSX TCJ |
| DOI | 10.16157/j.issn.0258-7998.2015.12.016 |
| DatabaseName | 维普_期刊 中文科技期刊数据库-CALIS站点 中文科技期刊数据库-7.0平台 中文科技期刊数据库-工程技术 中文科技期刊数据库- 镜像站点 Wanfang Data Journals - Hong Kong WANFANG Data Centre Wanfang Data Journals 万方数据期刊 - 香港版 China Online Journals (COJ) China Online Journals (COJ) |
| DatabaseTitleList | |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| DocumentTitleAlternate | Research on attitude optimal estimation of quad-rotor aircraft based on STM32 |
| DocumentTitle_FL | Research on attitude optimal estimation of quad-rotor aircraft based on STM32 |
| EndPage | 64 |
| ExternalDocumentID | dzjsyy201512024 666843559 |
| GrantInformation_xml | – fundername: 国家自然科学基金; 广西自然科学基金; 广西自动检测技术与仪器重点实验室基金项目; 广西高校无人机遥测重点实验室主任基金; 广西科学技术开发项目 funderid: (61361006); (2015GXNSFBA139251); (YQ14203); (WRJ2015ZR02); (桂科攻1598008-29) |
| GroupedDBID | -0Y 2B. 2C0 2RA 5XA 5XJ 92H 92I 92L ACGFS ALMA_UNASSIGNED_HOLDINGS CCEZO CQIGP CUBFJ CW9 GROUPED_DOAJ TCJ TGT U1G U5S W92 ~WA 4A8 93N ABJNI PSX |
| ID | FETCH-LOGICAL-c594-a704fbf1d88ea5143b8c963ada3f90191545a58a9e7a3d0b8bd383f90f259b803 |
| ISSN | 0258-7998 |
| IngestDate | Thu May 29 04:04:53 EDT 2025 Wed Feb 14 10:22:56 EST 2024 |
| IsPeerReviewed | true |
| IsScholarly | true |
| Issue | 12 |
| Keywords | 四元数 PI控制器 姿态解算 四旋翼飞行器 互补滤波器 |
| Language | Chinese |
| LinkModel | OpenURL |
| MergedId | FETCHMERGED-LOGICAL-c594-a704fbf1d88ea5143b8c963ada3f90191545a58a9e7a3d0b8bd383f90f259b803 |
| Notes | 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 |
| PageCount | 4 |
| ParticipantIDs | wanfang_journals_dzjsyy201512024 chongqing_primary_666843559 |
| PublicationCentury | 2000 |
| PublicationDate | 2015 |
| PublicationDateYYYYMMDD | 2015-01-01 |
| PublicationDate_xml | – year: 2015 text: 2015 |
| PublicationDecade | 2010 |
| PublicationTitle | 电子技术应用 |
| PublicationTitleAlternate | Application of Electronic Technique |
| PublicationTitle_FL | Application of Electronic Technique |
| PublicationYear | 2015 |
| Publisher | 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 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 |
| Publisher_xml | – name: 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 – name: 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 |
| SSID | ssib001102853 ssib017479494 ssib038074684 ssib051374551 ssj0042189 ssib023646353 |
| Score | 2.003879 |
| Snippet | 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... V249; 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)... |
| SourceID | wanfang chongqing |
| SourceType | Aggregation Database Publisher |
| StartPage | 61 |
| SubjectTerms | PI控制器 互补滤波器 四元数 四旋翼飞行器 姿态解算 |
| Title | 基于STM32的四旋翼飞行器的姿态最优估计研究 |
| URI | http://lib.cqvip.com/qk/90393X/201512/666843559.html https://d.wanfangdata.com.cn/periodical/dzjsyy201512024 |
| Volume | 41 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| journalDatabaseRights | – providerCode: PRVAON databaseName: DOAJ Directory of Open Access Journals issn: 0258-7998 databaseCode: DOA dateStart: 20100101 customDbUrl: isFulltext: true dateEnd: 99991231 titleUrlDefault: https://www.doaj.org/ omitProxy: true ssIdentifier: ssj0042189 providerName: Directory of Open Access Journals |
| link | http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV3NaxQxFA-1guhB_MRalR7MqUydj2QmwdPM7pQi6MUVeluS3ZkWD1u17aE9VfCmeBL8qKjFg4ognjyUhf4z2279L3zvzex0_KCosIRMXt7Lx8skv5dN3jB21c-CHHAy_qdujSM60jjW94TTyX0rRdbVuaVTvrfCuTvixrycHxv7XDu1tLpiZzrrf7xX8j9ahTTQK96S_QfNVkIhAeKgXwhBwxD-lY55Krme5UnMU4GhSm-3bgY-TyOu4UkQPcFfGnIdcZUgKQGOBk81jwOuU54qHntcNSgzJKqf2GPKD-zKBdBJchoYxwIbXKsykrgkJ0VRwB67XAuKaJ6EdQBMwoFFkvAm1y4Jj0kmCY9nkQStKSRAGFfHbak0YCLuBIjNaeJqQtMpAsXF08gGz9haiaGKKALkpL7JUVzwLGdBXyon0sWnqkdTduErazQ0_doEXHh2L5fywj_6b4sEgLiIVgksYKYqAM_5Sdob9n5xzk3LPdh5CrCl1EfYUR83f2r2O2FPhGoH2AcsPZjqDiY7dNQP4K6io6N_ER5cEpZeEAkpq_NJArAX2W6j6h1jfFT5a4dVHZ2ELC71Fu4D9KGbaL3c9BZqoKl1ip0srZ2puBi6p9nY-uIZdqLmA_Msu777dnuw_ZQG7vDVo93Nzb3nj4c7_e_v3-xvPdl9-RETP-zsbTzce70x6L8Y9L_uf9kavns2_PTtHGvNpq3GnFN-0cPpSC0cE7kit7nXVSoziNSt6sACYLomyAGXaoTzRiqjs8gEXdcq2w0UknIw0q1yg_NsvLfUyy6wqdAqIwwaD34ujBtaLwN5YdgRURRIlU-wyaoX2vcKxy3tSoUTbKrsl3b5Oi-3u-t3l9fWsCM9H4DrxUMFTLLjmLPYi7vExlcerGaXAZ2u2Cs0Kn4AGzNuqA |
| linkProvider | Directory of Open Access Journals |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E5%9F%BA%E4%BA%8ESTM32%E7%9A%84%E5%9B%9B%E6%97%8B%E7%BF%BC%E9%A3%9E%E8%A1%8C%E5%99%A8%E7%9A%84%E5%A7%BF%E6%80%81%E6%9C%80%E4%BC%98%E4%BC%B0%E8%AE%A1%E7%A0%94%E7%A9%B6&rft.jtitle=%E7%94%B5%E5%AD%90%E6%8A%80%E6%9C%AF%E5%BA%94%E7%94%A8&rft.au=%E4%BD%95%E5%B7%9D+%E6%9D%8E%E6%99%BA+%E7%8E%8B%E5%8B%87%E5%86%9B&rft.date=2015&rft.issn=0258-7998&rft.volume=41&rft.issue=12&rft.spage=61&rft.epage=64&rft_id=info:doi/10.16157%2Fj.issn.0258-7998.2015.12.016&rft.externalDocID=666843559 |
| thumbnail_s | http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fimage.cqvip.com%2Fvip1000%2Fqk%2F90393X%2F90393X.jpg http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fdzjsyy%2Fdzjsyy.jpg |