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基于传感器校正与融合的农用小型无人机姿态估计算法

彭孝东 张铁民 李继宇 陈瑜

彭孝东, 张铁民, 李继宇, 陈瑜. 基于传感器校正与融合的农用小型无人机姿态估计算法. 自动化学报, 2015, 41(4): 854-860. doi: 10.16383/j.aas.2015.c140277
引用本文: 彭孝东, 张铁民, 李继宇, 陈瑜. 基于传感器校正与融合的农用小型无人机姿态估计算法. 自动化学报, 2015, 41(4): 854-860. doi: 10.16383/j.aas.2015.c140277
PENG Xiao-Dong, ZHANG Tie-Min, LI Ji-Yu, CHEN Yu. Attitude Estimation Algorithm of Agricultural Small-UAV Based on Sensors Fusion and Calibration. ACTA AUTOMATICA SINICA, 2015, 41(4): 854-860. doi: 10.16383/j.aas.2015.c140277
Citation: PENG Xiao-Dong, ZHANG Tie-Min, LI Ji-Yu, CHEN Yu. Attitude Estimation Algorithm of Agricultural Small-UAV Based on Sensors Fusion and Calibration. ACTA AUTOMATICA SINICA, 2015, 41(4): 854-860. doi: 10.16383/j.aas.2015.c140277

基于传感器校正与融合的农用小型无人机姿态估计算法

doi: 10.16383/j.aas.2015.c140277
基金项目: 

国家高技术研究发展计划(863计划)(SS2013AA100303,2013AA10230308-10)资助

详细信息
    作者简介:

    彭孝东 华南农业大学博士研究生.主要研究方向为农业航空技术与应用.E-mail:pxd2005@scau.edu.cn

    通讯作者:

    张铁民 华南农业大学工程学院教授.主要研究方向为农业航空技术与应用,农业电气化与自动化.本文通信作者.E-mail:tm-zhang@163.com

Attitude Estimation Algorithm of Agricultural Small-UAV Based on Sensors Fusion and Calibration

Funds: 

Supported by National High Technology Research and Development Program of China(863 Program)(SS2013AA100303, 2013AA10230308-10)

  • 摘要: 实时姿态信息获取是运用农用小型无人机(Unmanned aerial vehicle, UAV)进行变量作业控制的重要环节,本文采用STM32单片机、微机电系统(Micro-electro mechanical system, MEMS)加速度计、陀螺仪、磁强计和无线收发模块设计出农用小型无人机姿态实时解算系统,文中对三轴数字传感器的校正方法以及基于四元数和梯度下降法的多传感器融合姿态估计做了详细地介绍与推导.结果表明,在72MHz时钟频率下模拟集成电路总线(Inter-integrated circuit, ⅡC)传感器数据采集及滤波消耗6.2ms,迭代步长取0.8,一次姿态解算消耗约0.96ms,数据更新频率可达100Hz,能满足实时性要求.经测试在静态时俯仰角和翻滚角输出的平均绝对误差小于1.5,偏航角平均绝对误差小于2.9,小幅震动条件下的俯仰角、翻滚角和偏航角平均绝对误差增加1~2左右.这表明该传感器校正方法与姿态融合算法实用有效,能为农用小型无人机的飞行控制与变量作业实施提供准确的姿态数据.
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出版历程
  • 收稿日期:  2014-04-17
  • 修回日期:  2014-12-02
  • 刊出日期:  2015-04-20

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