四旋翼无人机的姿态解算及实现

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英文篇名：The basic principle, attitude calculation and realization of quadrotor UAV 作者：杨勇 ; 张广有 ; 李加杰 英文作者：Yang Yong;Zhang Guangyou;Li Jiajie;School of Mechatronics Engineering,Henan University of Scienceand Technology; 关键词：四旋翼无人机 ; 飞行原理 ; 状态空间 ; 四元数及姿态解算 英文关键词：quadrotor UAV;;flight principle;;state space;;quaternion and attitude solution 中文刊名：WDZC 英文刊名：Electronic Test 机构：河南科技大学机电工程学院; 出版日期：2019-05-05 出版单位：电子测试 年：2019 期：No.414 基金：河南科技大学2018年度大学生研究训练计划(SRTP)项目(2018014) 语种：中文; 页：WDZC201909023 页数：3 CN：09 ISSN：11-3927/TN 分类号：59-61

摘要

本文用现代控制理论中的状态空间模型去描述四旋翼无人机的输入、输入模型,给Matlab下的Simulink模型提供了参照。紧接着介绍了四元数和姿态解算,给出了四元数怎么进行姿态解算,还给出了硬件的组机方案,最后我们在地面站软件上完成基本的参数调试后,绕着操场进行了试飞,实现了良好的姿态控制、轨迹控制能力,达到了预期的要求。
        Based on the physical model, the state space in modern control theory is used. The model describes the input and input models of the quadrotor UAV, and provides a reference for the Simulink model under Matlab. Then introduced the quaternion and attitude solution, gave the quaternion how to solve the attitude, and also gave the hardware group plan, and finally we completed the basic parameter debugging on the ground station software, around The test flight was carried out in the playground, and the good attitude control and trajectory control ability were achieved, and the expected requirements were met.

引文

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