论文部分内容阅读
为设计具备稳定姿态控制的四轴飞行器,对四轴飞行器飞行姿态表示、数学模型、姿态解算算法进行了研究。硬件上采用STM32作为主控芯片,以加速度计、陀螺仪为主体的惯性测量模块作为姿态测量传感器,测量出当前飞机的三轴加速度与三轴角速度并传送给主控芯片进行四元数姿态解算,求解出当前姿态角;软件上对传感器数据进行融合,运用MATLAB工具获取实时姿态,实现对姿态的辨识和控制。实验表明,四元数姿态解算算法对飞行器具有良好的控制效果,能快速精准响应飞行状态,满足飞行器执行特殊任务需要。
In order to design a four-axis aircraft with a stable attitude control, the flight attitude representation, mathematical model and attitude calculation algorithm of the quadcopter are studied. Hardware STM32 as the main control chip, accelerometer, gyroscope inertial measurement module as the attitude measurement sensor to measure the current aircraft’s triaxial acceleration and triaxial angular velocity and sent to the master chip quaternion attitude solution Calculate and solve the current attitude angle; the software on the sensor data fusion, the use of MATLAB tools to obtain real-time gestures to achieve gesture recognition and control. Experiments show that the quaternion attitude algorithm has a good control effect on the aircraft, can respond quickly and accurately to the flight status, and meet the needs of the aircraft to carry out special missions.