Calculation method of attitude and heading reference system of quadrotor UAV based on gradient descent

Abstract

The invention discloses a method for solving an attitude and heading reference system of a four-rotor unmanned aerial vehicle based on gradient descent. The method comprises the following steps of: acquiring attitude information of a micro four-rotor unmanned aerial vehicle through a gyroscope, an acceleration sensor and a geomagnetic sensor, wherein the gyroscope is used for measuring the angular rate of the micro four-rotor unmanned aerial vehicle, the acceleration sensor is used for measuring the linear acceleration of the micro four-rotor unmanned aerial vehicle, and the geomagnetic sensor is used for measuring magnetic field information of the position where the micro four-rotor unmanned aerial vehicle is positioned; fusing data of the acceleration sensor and the geomagnetic sensor with data acquired by the gyroscope by employing a quaternion update algorithm based on gradient descent, and correcting drift of the gyroscope; and solving the attitude angle information of the micro four-rotor unmanned aerial vehicle by employing a quaternion method. By employing a data fusion method based on the gradient descent method, the drift of the gyroscope data is corrected in real time by fully utilizing the data of the acceleration sensor and the geomagnetic sensor, and three-dimensional attitude angle information is output, so that the system error is reduced, and the attitude measurement accuracy and stability are effectively improved.

Description

technical field [0001] The invention relates to attitude and heading data measurement of a quadrotor unmanned aerial vehicle. In particular, it relates to a gradient descent-based solution method for a quadrotor drone's attitude and heading reference system. Background technique [0002] The attitude and heading reference system is a core device in the electronic system of the quadrotor UAV, which is responsible for providing real-time and reliable flight status measurement data for the UAV flight control system. At present, the common quadrotor UAV has a small body size and light load, and has strict restrictions on the weight and size of the inertial navigation unit. Therefore, a micro-attitude navigation system based on MEMS (micro-electromechanical system) technology is often used to provide flight status measurement data. [0003] At present, there are various schemes and applications of heading and attitude measurement systems at home and abroad. The Cristal100 headi...

AI Technical Summary

Problems solved by technology

However, under normal circumstances, the low-cost sensors have large drift, and the system error accumulates over time, which is not suitable for the use of long-term carrier attitude determination, which limits the application of heading and attitude measurement systems to a certain extent

[0007] Analyzing the technical reports in the existing literature, it can be seen that the large sensor drift and low accuracy are the main problems in the attitude and heading reference system of the current miniature quadrotor UAV.

[0008] The micro-attitude navigation system has the characteristics of small size, low cost, autonomy, real-time, and strong anti-interference ability, but its accuracy mainly depends on the accuracy of the inertial sensor. It is difficult to make a substantial improvement, the sensor data drifts greatly, and the system error accumulates over time, so it is not suitable for the application of long-term carrier attitude determination

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