便携式无人飞行器位姿信息融合.pdfVIP

2011 2011 9 便携式无人飞行器位姿信息融合 刘 亮，饶进军 （上海大学机电工程与自动化学院，上海 200072 ） 摘 要：便携式无人飞行器具有很大的实用价值，而飞行器的实时位置与姿态信息的获取是实现自主 飞行的基础。为获得便携式无人飞行器的全面、精确的动态飞行位姿信息，本文针对便携式无人飞行 器的传感器的通常配置，分析了各传感器的性能特点，研究了基于SINS/GPS/ 罗盘组合的信息融合问 题。首先分别研究了MEMS惯性元件、姿态角、速度与位置误差方程，在此基础上建立了信息融合系 统的状态方程与观测方程，并对其进行了离散化推导以适于计算机应用，从而建立了面向卡尔曼滤波 器的信息融合系统的模型。然后对该融合系统进行了程序实现，并应用真实飞行数据进行了信息融合， 对融合前后信息进行的比较分析表明，SINS/GPS/ 罗盘信息融合系统比单独的传感器在定姿定位准确 度方面有显著改善，其中定姿误差均方值由融合前的5.96°减小到1.74°。研究成果可满足便携式无人机 自主飞行控制需要。 关键词：便携式无人机；信息融合；捷联式惯导；GPS ；罗盘 Position and Attitude Data Fusion for PUAVs LIU Liang, RAO Jin-jun, （College of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China ） Abstract: Portable unmanned aerial vehicles (PUAVs) present an enormous application potential, and the real time accurate position and attitude information is the basis of autonomous flight of PUAVs. In order to obtain comprehensive and accurate position and attitude data of PUAVs in flight, focusing on the common sensors configuration of PUAVs, each type of sensor’s characteristic is analyzed, and the data fusion problem of SINS/GPS/compass combination is presented and studied in this paper. Firstly, the error expressions of MEMS inertia sensors, attitude, velocity and position are researched and derived, and the state equation and observation equation are built, and the discrete equations are derived for computer implementation, so the data fusion model for Kalman Filter fusion algorithms is presented. Then, the data fusion system and algorithms are implemented in software, and the flight data obtained in flight experiment is fed to the software for data