价值工程
價值工程
개치공정
Value Engineering
2015年
29期
141-142
,共2页
四元数姿态解算%PID算法%四旋翼%卡尔曼滤波
四元數姿態解算%PID算法%四鏇翼%卡爾曼濾波
사원수자태해산%PID산법%사선익%잡이만려파
four element attitude solution%PID algorithm%four rotor%calman filter
该飞行器是基于MEGA328P为核心控制的四轴飞行模型。系统由飞控模块、电源模块、通信模块、传感器模块、无刷电机模块、机架等组成。利用四元数姿态算法对传感器数据进行处理得到正确的飞行姿态，然后采用PID算法控制电机，实现自由飞行、定高飞行、GPS导航、航拍等功能。实验表明，系统工作稳定，适合大学生自主学习和研究。
該飛行器是基于MEGA328P為覈心控製的四軸飛行模型。繫統由飛控模塊、電源模塊、通信模塊、傳感器模塊、無刷電機模塊、機架等組成。利用四元數姿態算法對傳感器數據進行處理得到正確的飛行姿態，然後採用PID算法控製電機，實現自由飛行、定高飛行、GPS導航、航拍等功能。實驗錶明，繫統工作穩定，適閤大學生自主學習和研究。
해비행기시기우MEGA328P위핵심공제적사축비행모형。계통유비공모괴、전원모괴、통신모괴、전감기모괴、무쇄전궤모괴、궤가등조성。이용사원수자태산법대전감기수거진행처리득도정학적비행자태，연후채용PID산법공제전궤，실현자유비행、정고비행、GPS도항、항박등공능。실험표명，계통공작은정，괄합대학생자주학습화연구。
The aircraft was based on the MEGA328P as the core control of the four axis flight model. The system consisted of control module, power module, communication module, sensor module, brushless motor module, a frame. First, the correct flight attitude of the sensor data was processed by using the attitude of the four elements, then controled motor with PID algorithm, Finally, we realized the free flight, high flight, GPS navigation, aerial photography and other functions. Experiments showed that the system worked stably and was suitable for the students to study and study independently.
