| 基于多传感器融合的四旋翼飞行器姿态监控 |
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| 引用本文： | 王凯,马腾达,周德新. 基于多传感器融合的四旋翼飞行器姿态监控[J]. 测控技术, 2015, 34(3): 21-24. DOI: 10.3969/j.issn.1000-8829.2015.03.006 |
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| 作者姓名： | 王凯 马腾达 周德新 |
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| 作者单位： | 中国民航大学航空自动化学院,天津,300300 |
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| 基金项目： | 国家自然科学基金项目(61179044)；国家重点基础研究发展计划（973计划）项目（2014CB744904）；中国民航大学校级重点科研项目（CAUC2009ZD0102） |
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| 摘 要： | 设计了一种基于多传感器融合的四旋翼飞行器姿态监控系统.在有限的单片机计算资源下,通过卡尔曼滤波,对陀螺仪、加速度计和磁强计的测量数据进行数据融合,解算出姿态信息.减小了因电机引起的振动、低成本微机电系统(MEMS)传感器误差较大等因素对姿态信息解算时造成的干扰.通过无线将姿态信息传输至上位机,以民航客机中的主飞行显示器(PFD)形式,对飞行参数进行直观的图形化显示,实现了对四旋翼飞行器的姿态进行监控.
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| 关 键 词： | 多传感器融合 四旋翼 姿态解算 MEMS PFD |
Attitude Monitoring of Quad-Rotor Aircraft Based on Multi-Sensor Fusion |
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| WANG Kai , MA Teng-da , ZHOU De-xin. Attitude Monitoring of Quad-Rotor Aircraft Based on Multi-Sensor Fusion[J]. Measurement & Control Technology, 2015, 34(3): 21-24. DOI: 10.3969/j.issn.1000-8829.2015.03.006 |
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| Authors: | WANG Kai MA Teng-da ZHOU De-xin |
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| Abstract: | One kind of attitude monitoring system of qual-rotor aircraft based on multi-sensor fusion is designed.In the limited computing resources,Kalman filter is used for sensor data fusion of gyroscope,acceleration and magnetometer to estimate the attitude data.And the interferences caused by the factors such as the mechanical vibration caused by motor,the low accuracy of MEMS(micro-electro-mechanical systems) sensors,are reduced.The attitude data are transmitted to the PC through wireless,and are shown by the graphical interface such as the PFD(primary flight display) in the civil aircraft.The attitude monitoring of quad-rotor is achieved. |
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| Keywords: | multi-sensor fusion quad-rotor attitude estimation MEMS PFD |
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