本文關(guān)鍵詞：多旋翼飛行器的多傳感器信息融合算法研究　出處：《中北大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 多旋翼飛行器 傳感器誤差分析 姿態(tài)解算 信息融合 卡爾曼濾波

【摘要】：隨著微小型處理器、傳感器、電機(jī)以及姿態(tài)解算方法和控制算法的發(fā)展,多旋翼飛行器的研究和開發(fā)受到廣大科研人員的關(guān)注。如何得到相對(duì)準(zhǔn)確的飛行器的飛行數(shù)據(jù),從而更好的控制飛行器的飛行是其核心內(nèi)容之一,而這也直接影響著多旋翼飛行器的系統(tǒng)性能及推廣應(yīng)用。論文分析和研究了多旋翼飛行器飛行狀態(tài)的測(cè)量所需要的傳感器即陀螺儀、加速度計(jì)、磁力計(jì)、GPS、氣壓計(jì)和激光測(cè)距儀的原理及其相互間的關(guān)系,從而根據(jù)其可能產(chǎn)生的誤差進(jìn)行了相應(yīng)的誤差建模。依據(jù)傳感器輸出特性,對(duì)多旋翼飛行器的姿態(tài)角、高度、位置和速度信息進(jìn)行了解算。針對(duì)單一傳感器不能準(zhǔn)確給出飛行器當(dāng)前飛行狀態(tài)的數(shù)據(jù),對(duì)多個(gè)相關(guān)傳感器的數(shù)學(xué)解算建立了信息融合算法模型。建立了基于同源傳感器的集中式經(jīng)典卡爾曼濾波模型;對(duì)本文的多傳感器進(jìn)行了分散式的聯(lián)邦卡爾曼濾波過程建模,分別設(shè)計(jì)了其姿態(tài)、高度、位置信息的子濾波器以及主濾波器;通過對(duì)比分析提出了改進(jìn)的聯(lián)邦卡爾曼濾波算法,構(gòu)建了改進(jìn)的聯(lián)邦卡爾曼濾波框架并對(duì)其關(guān)鍵性作用的主濾波進(jìn)行了改進(jìn)建模,實(shí)現(xiàn)了低成本傳感器的測(cè)量精度的提高。對(duì)本文研究的集中式經(jīng)典卡爾曼濾波、分散式聯(lián)邦卡爾曼濾波以及提出的改進(jìn)聯(lián)邦卡爾曼濾波效果分別進(jìn)行誤差仿真試驗(yàn)對(duì)比,對(duì)濾波效果進(jìn)行分析討論,通過仿真結(jié)果表明改進(jìn)的聯(lián)邦卡爾曼濾波算法有效提高了飛行器飛行狀態(tài)測(cè)量精度,驗(yàn)證了改進(jìn)算法的有效性,更好地提高了飛行器的飛行穩(wěn)定性和可靠性。
[Abstract]:With the development of micro processor, sensor, motor and attitude calculation method and control algorithm, the research and development of multi rotor aircraft has drawn much attention. How to get a relatively accurate aircraft flight data, so as to better control of aircraft flight is one of its core content, which directly affects the performance of the system and the application of multi rotor aircraft. The analysis of sensor and multi rotor aircraft flight measurements are needed: gyroscope, accelerometer, magnetometer, GPS principle, barometer and laser rangefinder and the relationship between them, and the corresponding error modeling according to the error of the possible. According to the output characteristics of the sensor, the height of multi rotor aircraft attitude angle, position and velocity are calculated. For a single sensor can give flying Is the flight data of multiple sensors related to the mathematical model established information fusion algorithm. A centralized classic Calman filter model of homologous sensor based on multi sensor; this paper studied the dispersion modeling process of the federal Calman filter, respectively design the attitude, height, position information filter and the main filter; through the comparative analysis of proposed federal Calman filter to improve the construction of the federal Calman filtering framework improved and the main filter for its key role to improve the modeling accuracy and low cost, realize the measurement of sensor is improved. In this paper the centralized classic Calman filter, improve the filtering effect of the federal Calman decentralized federal Calman filter and proposed are compared to the error simulation test, the filtering effect is analyzed. The simulation results show that the improved federated Calman filter algorithm improves the measurement accuracy of the flight state effectively, verifies the effectiveness of the improved algorithm, and improves the flight stability and reliability of the aircraft.

【學(xué)位授予單位】：中北大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：V249;TP212

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