Attitude heading reference system for low-cost small unmanned aerial vehicle

A small unmanned aerial vehicle and reference system technology, applied in the field of low-cost small unmanned aerial vehicle attitude and heading reference system, can solve the problems of high cost of magnetic heading meter, unsolvable problems, poor low-cost flight control computer and other problems, and achieve the solution Effects of inaccurate attitude estimation, improved accuracy and reliability, and reduced complexity

Inactive Publication Date: 2012-09-26
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] For low-cost small UAVs, although sensor fusion technology has been widely used in attitude determination, there are still some problems: First, the sensors used for attitude estimation in small UAV systems are generally angular rate gyroscopes, accelerometers, magnetic Heading (used to measure the heading angle), while the magnetic heading is expensive and not suitable for low-cost UAV systems; secondly, although some small UAV attitude estimation systems use GPS instead of magnetic heading, which reduce

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  • Attitude heading reference system for low-cost small unmanned aerial vehicle
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  • Attitude heading reference system for low-cost small unmanned aerial vehicle

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Embodiment Construction

[0028] The preferred embodiments of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0029] This embodiment implements an attitude and heading reference system for low-cost small unmanned aerial vehicles, which consists of three parts: an angular rate gyro subsystem, a correction subsystem and a Kalman filter. figure 1 A block diagram of the attitude heading reference system is shown. In this embodiment, the error quaternion method is used to establish the model, which relieves the calculation load of the onboard processor.

[0030] 1) Angular rate gyro operation module

[0031] The attitude of a rigid body in three-dimensional space is usually described by three Euler angles, which are roll angle f, pitch angle q, and yaw angle y. Attitude angles describe the relative relationship between two different coordinate systems. In navigation, guidance and control, for aircraft moving near the ground, the body coordinate ...

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Abstract

The invention relates to an attitude heading reference system for a low-cost small unmanned aerial vehicle. The attitude heading reference system comprises an angular rate gyro, an accelerometer, a global position system (GPS), an angular rate gyro operation module, an aiding module and a Kalman filter, wherein the angular rate gyro is used for measuring a roll angular rate, a pitch angular rate and a yaw angular rate of an aerial vehicle; the accelerometer is used for measuring a weight component of gravity in an aerial vehicle coordinate axis system; the GPS is used for measuring a track azimuth of an aerial vehicle; the angular rate gyro operation module is used for computing a pitch angle q1, a yaw angle y1 and a roll angle f1 with offsets; the aiding module is used for estimating an estimated roll angle f2 and an estimated pitch angle q2 and using the track azimuth measured by the GPS as an estimated yaw angle y2; and the Kalman filter is used for fusion of data produced by the angular rate gyro operation module and the aiding module to acquire a final attitude angle [f q y]<T>. The attitude heading reference system reduces a cost of a small unmanned aerial vehicle system and a complex degree of a heading reference system and improves the precision of attitude estimation.

Description

technical field [0001] The invention relates to an attitude and heading reference system, in particular to an attitude and heading reference system for low-cost small UAVs based on sensor fusion technology. Background technique [0002] Attitude Heading Reference System (AHRS), referred to as the heading system, is used to determine the orientation of the moving vehicle in space. The attitude information provided by the attitude heading reference system can be widely used in navigation, guidance and control. For autonomous flying UAVs, the heading and attitude system is particularly important, which provides the necessary attitude feedback for the inner loop of the control system. Usually, the determination of attitude information relies on high-precision angular rate gyroscopes. However, high-precision gyroscopes have defects such as high cost, heavy weight, and complex structure, which obviously cannot be applied to low-cost small UAV systems. Therefore, under the constr...

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Application Information

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IPC IPC(8): G01C21/18
Inventor 杜小菁李蒙李怀建涂海峰郭康
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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