本文選題：微型飛行器　切入點：姿態(tài)估計　出處：《湖南大學》2015年碩士論文　論文類型：學位論文

【摘要】：姿態(tài)估計技術是實現飛行器姿態(tài)控制的關鍵技術之一,在各種飛行器中得到了普遍的應用。隨著近年來微型飛行器的快速發(fā)展,微型姿態(tài)估計系統(tǒng)的研究受到了人們的關注,成為了一個新的研究熱點。與傳統(tǒng)姿態(tài)估計系統(tǒng)不同,針對微型飛行器的姿態(tài)估計系統(tǒng)要求具有尺寸小、功耗低的特性,因此帶來了設計上的差異。微型飛行器姿態(tài)估計系統(tǒng)的設計主要包括基于MEMS慣性器件的姿態(tài)解算系統(tǒng)設計,數據融合算法設計,以及相關硬件與軟件的設計。MEMS慣性傳感器是構成微型姿態(tài)估計系統(tǒng)的核心器件。與傳統(tǒng)慣性傳感器相比,MEMS慣性傳感器具備更小的尺寸和更低的功耗,但測量精度也較低,因此為姿態(tài)的估計帶來了一定的困難。通過使用慣性導航理論,論文實現了以MEMS慣性傳感器為數據源,使用四元數方法的姿態(tài)解算,但解算結果只在短時間內可靠。為解決姿態(tài)解算長期精度不足的問題,需要使用數據融合算法將姿態(tài)解算結果與其他信息進行融合,增強MEMS慣性測量系統(tǒng)的穩(wěn)定性。論文中對互補濾波器與四元數卡爾曼濾波器算法進行了討論,并最終實現了重力加速度測量的融合。論文將算法應用在嵌入式平臺中,包括微型姿態(tài)估計系統(tǒng)的電路原理與印刷電路板設計實現,以及通過以狀態(tài)機與消息機制為核心的軟件架構完成了硬件驅動設計與應用程序設計。最后,實現了PC與系統(tǒng)的通訊,并完成了簡單的測試。測試結果表明,該姿態(tài)估計系統(tǒng)在靜態(tài)時具有較好的穩(wěn)定性,在動態(tài)過程中能夠反映飛行器的運動趨勢,對外界干擾具有一定的魯棒性,具備一定的實用價值。
[Abstract]:Attitude estimation technology is one of the key technologies to realize attitude control of aircraft, and has been widely used in various aircraft. With the rapid development of micro-aircraft in recent years, the research of micro-attitude estimation system has attracted people's attention. Different from the traditional attitude estimation system, the attitude estimation system for the micro vehicle needs the characteristics of small size and low power consumption. The design of attitude estimation system of micro vehicle mainly includes the design of attitude calculation system based on MEMS inertial device and the design of data fusion algorithm. MEMS inertial sensor is the core device of micro attitude estimation system. Compared with traditional inertial sensor, MEMS inertial sensor has smaller size and lower power consumption, but its measurement accuracy is also lower. Therefore, it brings some difficulties for attitude estimation. By using inertial navigation theory, the attitude calculation using MEMS inertial sensor as data source and quaternion method is realized. But the result is only reliable in a short period of time. In order to solve the problem that the long-term accuracy of attitude solution is insufficient, it is necessary to fuse the result of attitude solution with other information by using data fusion algorithm. This paper discusses the complementary filter and the quaternion Kalman filter algorithm, and finally realizes the fusion of gravity acceleration measurement. It includes the circuit principle of the micro attitude estimation system and the design of the printed circuit board, and the hardware driver design and the application program design through the software architecture based on the state machine and message mechanism. The communication between PC and the system is realized, and a simple test is carried out. The test results show that the attitude estimation system has good stability in static state and can reflect the motion trend of the aircraft in the dynamic process. It is robust to external disturbance and has certain practical value.
【學位授予單位】：湖南大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V249.1;TP212.9

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