CAJ | 학술논문

针对多旋翼无人机对低成本姿态航向参考系统的实际需求，设计并实现了一种姿态航向参考系统。该系统采用陀螺仪积分出的载体姿态和已知的地球重力矢量，解算出地球重力矢量在载体系下的投影和加速度计测量出的地球重力矢量的矢量乘积结果作为水平姿态角的误差表征数值，并采用比例积分跟踪算法进行误差跟踪反馈，实现了准确的水平姿态角跟踪测量。利用陀螺仪积分出的姿态和已知的地球磁场信息，解出地球磁场矢量在载体系下的投影与磁力计测量的地球磁场矢量乘积结果作为航向误差角的误差表征数值，并采用比例积分跟踪算法进行误差跟踪反馈实现了对航向角的跟踪。转台实验表明：该系统水平姿态角跟踪精度约为1°，与 EKF 算法相比，运算速度提升了80％且精度好于 EKF 算法。
침대다선익무인궤대저성본자태항향삼고계통적실제수구，설계병실현료일충자태항향삼고계통。해계통채용타라의적분출적재체자태화이지적지구중력시량，해산출지구중력시량재재체계하적투영화가속도계측량출적지구중력시량적시량승적결과작위수평자태각적오차표정수치，병채용비례적분근종산법진행오차근종반궤，실현료준학적수평자태각근종측량。이용타라의적분출적자태화이지적지구자장신식，해출지구자장시량재재체계하적투영여자력계측량적지구자장시량승적결과작위항향오차각적오차표정수치，병채용비례적분근종산법진행오차근종반궤실현료대항향각적근종。전태실험표명：해계통수평자태각근종정도약위1°，여 EKF 산법상비，운산속도제승료80％차정도호우 EKF 산법。
To meet the demand for a small multi-rotor UAV,a low-cost AHRS(attitude and heading reference system)is designed and established.The system uses the gyro integrating and the earth′s gravity vector to compute the earth′s gravity vector in the body frame.The attitude error angle is ob-tained by the vector product of the earth′s gravity vector which is measured with accelerometers. Then,the proportional integral tracking error algorithm is adopted for eliminating the gesture error to achieve accurate gesture tracking.The result of the earth′s magnetic field vector calculated by gyro in-tegrating and the vector product earth′s magnetic field which is measured with the magnetometer serve as the heading error angle expression,and the heading angle tracking is achieved.The turntable ex-perimental results show that the system level attitude angle tracking accuracy is about 1°.Compared with fourth-order EKF algorithm,this algorithm reduces 80% of computing time and is better than EKF algorithm in accuracy.