摘要
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MEMS IMU、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。
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.
出处
《电子技术应用》
2018年第2期39-43,共5页
Application of Electronic Technique
基金
国家自然科学基金(61361006)
广西自然科学基金(2015GXNSFBA139251)
广西自然科学基金重点项目(2016GXNSFDA380031)
广西自动检测技术与仪器重点实验室基金项目(YQ14203)
广西高校无人机遥测重点实验室主任基金(WRJ2015ZR02)
桂林航天工业学院自然科学基金(YJ1303)
关键词
旋翼无人机
梯度下降算法
二阶互补滤波
组合滤波
航向
rotor unmanned aerial vehicle
gradient descent algorithm
second-order complementary filter
combined filter
heading
