CAJ | 학술논문

以多旋翼飞行器为平台，结合遥感技术可实现对近地面农田信息进行遥感监测。飞行控制是多旋翼飞行器的核心，它主要负责实时收集传感器测量数据，解算飞行姿态,通过控制算法控制电机运转。因此，准确实时获取姿态信息是实现多旋翼飞行器的飞行控制基础，该文提出了基于模糊-比例积分（fuzzy-proportion integration， Fuzzy-PI）偏差修正的多旋翼飞行姿态测算系统。该系统由加速度传感器、陀螺仪、电子罗盘和STM32F103微处理器组成。采用四元数坐标转换，将测算系统中各传感器测量的姿态偏差代入模糊-比例积分偏差修正解算方法得到多旋翼飞行器的姿态，通过串口显示测算结果，并在SGT320E型3轴多功能转台上对测算的姿态进行验证。试验结果表明该文提出姿态测算系统解算时间达450次/s，静态测量时横滚角和俯仰角平均误差为1.213°和1.072°，长时间静态测量并未产生漂移，为多旋翼飞行器准确控制姿态奠定基础。当转台以频率为0.1 Hz，幅度为30°的正弦波方式运动时，测算系统测量精度能达到1°。试验结果表明在该文提出的多传感器姿态测算硬件系统中，模糊-比例积分偏差修正的多传感器信息融合方法能动态修正传感器间的偏差，满足快速准确跟踪运动姿态的要求。该成果为多旋翼飞行器的姿态控制提供参考。
이다선익비행기위평태，결합요감기술가실현대근지면농전신식진행요감감측。비행공제시다선익비행기적핵심，타주요부책실시수집전감기측량수거，해산비행자태,통과공제산법공제전궤운전。인차，준학실시획취자태신식시실현다선익비행기적비행공제기출，해문제출료기우모호-비례적분（fuzzy-proportion integration， Fuzzy-PI）편차수정적다선익비행자태측산계통。해계통유가속도전감기、타라의、전자라반화STM32F103미처리기조성。채용사원수좌표전환，장측산계통중각전감기측량적자태편차대입모호-비례적분편차수정해산방법득도다선익비행기적자태，통과천구현시측산결과，병재SGT320E형3축다공능전태상대측산적자태진행험증。시험결과표명해문제출자태측산계통해산시간체450차/s，정태측량시횡곤각화부앙각평균오차위1.213°화1.072°，장시간정태측량병미산생표이，위다선익비행기준학공제자태전정기출。당전태이빈솔위0.1 Hz，폭도위30°적정현파방식운동시，측산계통측량정도능체도1°。시험결과표명재해문제출적다전감기자태측산경건계통중，모호-비례적분편차수정적다전감기신식융합방법능동태수정전감기간적편차，만족쾌속준학근종운동자태적요구。해성과위다선익비행기적자태공제제공삼고。
Multi-rotor is an aircraft that can vertically takeoff, land and freely hover. It can be used as a platform to monitor field information near ground with remote sensing technology. It is a beneficial supplement to satellite remote sensing monitoring. Flight control is the core of the whole flight system and attitude detection is an important part of flight control. Therefore, real-time acquire accurate attitude information is the basis for its flight controlling. In this paper, taking multi-rotor as object, a multi-sensor attitude detection system was established. The system included STM32F103 as microprocessor, MPU6050 as three-axis gyroscope and accelerometer, HMC5883 as electronic compass. However, when vehicle accelerated horizontally, deviations among sensors would be produced because attitude angular could be measured by gyroscope timely, but accelerometer and electronic compass would lag due to the averaging. Moreover, accelerometer cannot distinguish any horizontal acceleration from gravity. In order to eliminate the measure deviations among above sensors, multi-sensor information fusion method with fuzzy-proportion integration (fuzzy-PI) deviation correction based on quaternion and its coordinate conversion was proposed. Fuzzy-proportion integration (fuzzy-PI) deviation correction method integrated precise performance of PI regulator and fast feature of fuzzy regulator. According to the vehicle at low or high speed motion, the deviations would be bigger or smaller. When the deviations and its integrations were less than the predetermined threshold value, it switched to PI regulator to obtain accurate measure. When they were greater than the predetermined threshold value, the algorithm switched to fuzzy regulator to correct the deviation as soon as possible. Attitude angle detected by fuzzy-PI deviation correction method, complementary filter algorithm and DMP program were validated by SGT320E multi-functional three-axis rotary platform. The measurement results were monitored and acquired through serial port. When roll angle ranged from?40° to 40°, static angle measurements were made. Experiment result showed that the average measure error of roll angle and pitch angle with the proposed method was 1.213° and 1.072°, less than complementary filter algorithm. It could satisfy the accuracy requirement in aircraft attitude detection. Furthermore, time consumption per attitude angle solution with above 3 methods running on the proposed multi-sensor attitude detection hardware system was recorded through timer in STM32 and their solution time consumptions were less than 1ms, which proved that the hardware system can satisfy the quick response requirement of angle measure. Solution time of fuzzy-PI deviation correction method was 2 134μs, less than the other tow methods because the hardware system with fuzzy-PI deviation correction method had a good real-time performance and was suitable for fast calculation measure. In addition, in long static measurement, the proposed method did not generate static drift or divergence and in dynamic measurement, roll angle and pitch angle tracking maximum error was 1.969° and 3.581° with measurement accuracy reaching 1°, which results were closed to DMP solver within MPU6050. The dynamic measure experiment demonstrated that dynamic correcting deviation among multi-sensor in the fuzzy-PI deviation correction method can effectively modify the deviation among sensors, fast and accurately measure vehicle movement. Our study showed that the multi-sensor hardware system based on fuzzy-PI deviation correction method with characteristics of higher solution frequency, higher accuracy, lower cost, can implement for detecting attitude angles of wide range types of vehicles.