A Quadrotor Aircraft Attitude Acquisition Method Using Third-Order Approximate 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 problems such as difficult real-time calculations, large calculations, and small calculations of quaternion methods
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[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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