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对四旋翼飞行器的气动模型进行了分析,重点推导了四旋翼飞行器的桨叶挥舞效应和诱导阻力所产生的力与力矩,建立了更为完整的动力学模型。为方便试验辨识,对模型进行适当简化,得到相对简洁的集总气动参数结构。最后依据此改进模型设计了扩展卡尔曼滤波器,对姿态和速度进行了估计,并与传统简化模型进行了对比仿真。结果表明,在动态情况下,基于改进模型的姿态和速度估计精度,相对于传统模型有了大幅提升。
The aerodynamic model of quadrotorcraft is analyzed, and the force and moment produced by blade rotation effect and induced resistance of four-rotor aircraft are deduced. A more complete dynamic model is established. In order to facilitate the experimental identification, the model is simplified appropriately and a relatively simple lumped aerodynamic parameter structure is obtained. Finally, an extended Kalman filter is designed based on this improved model. The attitude and velocity are estimated and compared with the traditional simplified model. The results show that the accuracy of pose and velocity estimation based on the improved model has been greatly improved compared with the traditional model under dynamic conditions.