CAJ | 학술논문

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72 MHz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6.2 ms,迭代步长β取0.8,一次姿态解算消耗约0.96 ms,数据更新频率可达100 Hz,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.
실시자태신식획취시운용농용소형무인궤(Unmanned aerial vehicle, UAV)진행변량작업공제적중요배절,본문채용STM32단편궤、미궤전계통(Micro-electro mechanical system, MEMS)가속도계、타라의、자강계화무선수발모괴설계출농용소형무인궤자태실시해산계통,문중대삼축수자전감기적교정방법이급기우사원수화제도하강법적다전감기융합자태고계주료상세지개소여추도.결과표명,재72 MHz시종빈솔하모의집성전로총선(Inter-integrated circuit, IIC)전감기수거채집급려파소모6.2 ms,질대보장β취0.8,일차자태해산소모약0.96 ms,수거경신빈솔가체100 Hz,능만족실시성요구.경측시재정태시부앙각화번곤각수출적평균절대오차소우1.5?,편항각평균절대오차소우2.9?,소폭진동조건하적부앙각、번곤각화편항각평균절대오차증가1?～2?좌우.저표명해전감기교정방법여자태융합산법실용유효,능위농용소형무인궤적비행공제여변량작업실시제공준학적자태수거.
The real-time attitude information of agricultural small unmanned aerial vehicle (UAV) is a key factor to the de-cision and operation for variable rate program in precision agri-culture. A real-time attitude estimation system of agricultural small UAV is designed here which consists of a microprocessor STM32, micro-electro mechanial system (MEMS) inertial sen-sors, and wireless transceiver module nRF24L01a. Detailed de-scription and derivation of sensor calibration method and the multi-sensor fusion algorithm of attitude estimation based on quaternion derivation and the gradient descent algorithm are presented in the paper. Experimental results show that the sen-sor data acquisition and filtering consumes about 6.2 ms, and the algorithm consumes about 0.96 ms with the step size β =0.8 in the 72 MHz clock frequency and soft IIC (Inter-integrated cir-cuit). The update frequency of attitude data up to 100 Hz can meet real-time requirements. Statistics shows that the static mean absolute errors of pitch and roll are below 1.5? and the mean absolute errors of yaw are below 2.9?. The mean absolute error of pitch, roll and yaw will be increased by 1? ～ 2? under the condition of micro-vibration of low frequency. It is indicated that the attitude estimation fusion algorithm and sensors cali-bration method are practical and effective which could provide accurate attitude data for precision flight control and variable operations implementation of agricultural small UAV.