四轴飞行器遥感平台实现方案.docVIP

四轴飞行器遥感平台的实现方案 摘 要 四轴飞行器作为低空低成本的遥感平台，在各个领域应用广泛。相比其他类型的飞行器， 四轴飞行器硬件结构简单紧凑，而软件复杂。本文介绍四轴飞行器的一个实现方案，重点讲 软件算法，包括加速度计校正、姿态计算和姿态控制三部分。校正加速度计采用最小二乘法。 计算姿态采用姿态插值法、梯度下降法或互补滤波法，需要对比这三种方法然后选出一种来 应用。控制姿态采用欧拉角控制或四元数控制。最后比较各种方法的效果，并附上C 语言 的算法实现代码。 关键词：四轴飞行器；姿态；控制 II One Method to Make a Quadcopter XUAN Yong-jun Abstract Quadcopter is a low-cost low-altitude remote sensing platforms, which widely used in various fields. Compared to other types of aircraft, the quadcopter has simpler hardware, result in more complex software. This paper describes an implementation of the quadcopter, focusing on software algorithms, including the calibration of accelerometer, estimation of attitude, and control of attitude. It uses the Least Squares Method to calibration the accelerometer. It uses Attitude Interpolation Method, Gradient Descent Method or Complementary Filter Method to estimation the attitude. It uses Euler angles or quaternion to control the attitude. Finally, there are comparisons of the methods. The C-language implementation of the methods is appended. Key words: quadcopter; attitude; control III 目 录 1. 引言..................................................................... 1 2. 飞行器的构成............................................................. 1 2.1. 硬件构成............................................................... 1 2.1.1. 机械构成.............................................................. 1 2.1.2. 电气构成.............................................................. 2 2.2. 软件构成............................................................... 3 2.2.1. 上位机................................................................ 3 2.2.2. 下位机................................................................ 3 3. 飞行原理................................................................. 4 3.1. 坐标系统............................................................... 4 3.2. 姿态的表示和运算....................................................... 4 3.3. 动力学原理.............................................................