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基于卡尔曼滤波的四旋翼飞行器姿态估计和控制算法研究
  • ISSN号：1000-8152
  • 期刊名称：控制理论与应用
  • 时间：2013
  • 页码：1109-1115
  • 分类：TP273[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置]
  • 作者机构：[1]北京大学工学院,北京100871
  • 相关基金：This work was supported by the National Basic Research Program of China （No. 2012CB821202）, and the National Natural Science Foundation of China （61174052, 90916003）. Professor Xun Huang gave some suggestions and discussions during the preparation of the paper.
  • 相关项目：近空间高超声速飞行器自主协调控制研究
作者： 汪绍华|杨莹|
关键词： 四旋翼飞行器, 卡尔曼滤波, 姿态估计, 自回归(auto—regressive, AR)模型, 双增益PD控制器, 悬停控制, quadrotor aircraft, Kalman filter, attitude estimation, auto regressive model, double-gain PD controller, hover control
中文摘要：

四旋翼飞行器作为无人机的一种，由于其简单气动布局和复杂的动力学模型，在控制领域获得了越来越多的学术关注；本文首先分析了微机电系统惯性测量单元（MEMSIMU）传感器的误差，给出了基于自回归（auto．regressive,AR）噪声模型的卡尔曼滤波算法设计；然后根据加速度计和陀螺仪长短周期测量的不同特性，进一步对姿态数据做互补融合，实验表明此算法可以实现良好的滤波效果；基于上面的姿态估计，本文又提出了一种双增益的PD控制算法对飞行器进行姿态控制；最后将姿态估计算法和控制算法应用到实验平台中，可以实现四旋翼在支架上的自主悬停等功能．

英文摘要：

The quadrotor, as one type of unmanned aircraft vehicles, has gained increasing interests in the control community, partially due to its simple aerodynamics and complex dynamics. In this work, a quadrotor system has been constructed with commercial off-the-shelf products. The sensors of inertial measurement unit are micro-electro-mechanical system, whose errors can be analyzed in an auto regressive model. A new attitude estimation scheme based on Kalman filter is proposed, which conducts separate data fusion tasks in both short and long cycle. The proposed attitude sensing method has been validated using the experimental system. In addition, a double-gain proportional differential controller has been designed to regulate the attitude dynamics. A satisfactory control performance has been achieved in some test cases.

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期刊信息
  • 《控制理论与应用》
  • 北大核心期刊（2011版）
  • 主管单位:国家教育部
  • 主办单位:华南理工大学 中国科学院数学与系统科学研究院
  • 主编：胡跃明
  • 地址：广州五山路华南理工大学3号楼516室
  • 邮编：510640
  • 邮箱：aukzllyy@scut.edu.cn
  • 电话：020-87111464
  • 国际标准刊号：ISSN：1000-8152
  • 国内统一刊号：ISSN：44-1240/TP
  • 邮发代号:46-11
  • 获奖情况:
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  • 被引量:21084