共轴折叠双旋翼无人机姿态测量实验与分析

针对小型共轴折叠双旋翼飞行器结构特点、飞行原理进行分析，研究无人机运动学和动力学特性并建立数学模型，建立了无人机飞行器半实物飞行的动力性能和姿态角测试平台。该平台对飞行器机械振动、姿态角和噪声等性能分析。通过测试实验分析无人机不同旋翼转速产生的机械振动和噪声等特性，以及对陀螺仪和加速度计等MEMS传感器姿态解算结果的影响。测试实验表明：随着转速的增加振动幅度有所增加，该振动特性对噪声模型的建立和评估对无人机鲁棒性和抗干扰性提供新思路及有益借鉴。

Attitude measurement and analysis of coaxial folding double rotors

The structural characteristics and flight principle of the small coaxial folding twin-rotor aircraft are analyzed. The kinematics and dynamics of the UAV are studied and a mathematical model is established. A test platform for dynamic performance and attitude angle of UAV semi-physical flight is established. The platform analyzes the performance of aircraft mechanical vibration, attitude angle and noise. Through the test experiments, the characteristics of mechanical vibration and noise generated by different rotor speeds of the UAV are analyzed. And the influence on the attitude calculation results of MEMS sensors such as gyroscopes and accelerometers. Test experiments show that the vibration amplitude increases with the increase of rotational speed. The vibration characteristics provide a new idea and useful reference for the establishment and evaluation of the noise model for the robustness and anti-interference of the UAV.