科研之友
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摘要
Attitude measure is the basis of multi-rotors flight control. An attitude measure system was constructed based on MEMS gyroscope, accelerometer and magnetometer to realize three-axis attitude measure of multi-rotors. The system included STM32F103 as controller, integrated accelerometer and gyroscope MPU6050, magnetometer HMC5883 as measure sensors. A sensor fusion quaternion-based extended Kalman filter compliant with this system was proposed. The attitude quaternion and the gyroscope bias were introduced as state vector, the acceleration and the magnetic measured by accelerometer and magnetometer were introduced as observation vector. Extended Kalman filter combined the nice performance of gyroscope in dynamic with accelerometer and magnetometer in static. The optimized covariance value combination can improve the accuracy of attitude estimation and had excellent tracking performance in dynamic. The measure system based on extended Kaltnan filter was testified and analyzed by static and dynamic tests. Experiment results illustrated that the system can obtain the information of each sensor. The attitude measure system based on extended Kalman filter realized precision attitude measure for multi-rotors in dynamic circumstances. It may lay foundation for UAV remote control.
- 出版日期2017-3
- 单位华南农业大学
