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Tetra-rotor aircraft attitude obtaining method by use of three-order approximation Picard quaternion

A four-rotor aircraft, third-order approximation technology, applied in attitude control, navigation through speed/acceleration measurement, navigation calculation tools, etc., can solve the small amount of calculation of quaternion method, difficult real-time calculation, aircraft attitude estimation and control System design difficulties and other issues

Active Publication Date: 2015-09-09
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0003] Although the structure of the quadrotor aircraft is simple, it is a multivariable, strongly coupled nonlinear system, and the interference between the body and the outside world and itself is very sensitive, which makes the attitude estimation and control system design of the aircraft very difficult.
The direction cosine method can obtain the full attitude, but it has a large amount of calculation and it is difficult to calculate in real time
The quaternion method has a small amount of calculation and is practical, but it cannot avoid the integral error problem accumulated by the gyroscope

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  • Tetra-rotor aircraft attitude obtaining method by use of three-order approximation Picard quaternion
  • Tetra-rotor aircraft attitude obtaining method by use of three-order approximation Picard quaternion
  • Tetra-rotor aircraft attitude obtaining method by use of three-order approximation Picard quaternion

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Embodiment Construction

[0072] In order to make the technical scheme and design idea of ​​the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings.

[0073] A method for acquiring the attitude of a quadrotor aircraft using a third-order approximate Picard quaternion, comprising the following steps:

[0074] Step 1) In order to verify the feasibility of the algorithm, an aircraft experiment platform is first established, and the hardware system of the platform is divided into three parts with three STM32F103VET6 control chips as the core.

[0075] The first part is the circuit design of the main controller and inertial navigation system. The main control chip uses STM32 for attitude acquisition and attitude control. The inertial navigation system collects the motion state information of the aircraft body as an important information basis for the control system. The feedback accuracy of the inertial navigation platform directly affects th...

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Abstract

The invention discloses a tetra-rotor aircraft attitude obtaining method by use of a three-order approximation Picard quaternion. The method comprises the following steps: (1), according to the three-order approximation Picard quaternion, performing attitude solution so as to prevent a gyroscope from integration accumulative errors and reduce differential amplification of noise; and (2), performing Kalman filtering on an attitude angle obtained through the solution so as to effectively filter sensor measuring errors caused by vibration of a tetra-rotor aircraft body and obtain a more accurate attitude angle. The attitude solution method provided by the invention can perform accurate attitude estimation on a miniaturized tetra-rotor aircraft.

Description

technical field [0001] The present invention is applied to the field of attitude control of quadrotor aircraft, and relates to the problem of attitude control of quadrotor aircraft, especially how to avoid the integral accumulation error of the gyroscope, eliminate the sensor measurement error caused by the vibration of the body of the quadrotor aircraft, and realize an effective real-time control method. Background technique [0002] Quadrotor aircraft is the abbreviation of four-blade non-coaxial multi-rotor aircraft. As a representative of non-coaxial multi-rotor aircraft, compared with fixed-wing drones, it has the advantages of simple structure, small size, strong concealment, high load, vertical take-off and landing, fixed-point hovering and low-speed flight. Such dangerous special tasks, such as aerial photography, disaster scene monitoring and assistance, low-altitude detection and detection, etc., have shown extremely high research and application value in both civ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/08G01C21/20G01C21/16
Inventor 张丹叶孝璐肖紫阳
Owner ZHEJIANG UNIV OF TECH
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