Attitude recorder for ground test of micro-aircraft

Abstract

The invention provides a micro miniature aircraft ground test attitude recorder. The recorder combines sensors such as an MENS gyroscope, an accelerometer and a digital compass, so that the original flight attitude data of an aircraft can be obtained; based on utilization of the mean filtering method for processing, the flight attitude data is partitioned and packaged as per a defined data format; the partitioned and packaged data is sent by a wireless sending module to a data combining unit of an upper computer for processing in the integer form and in a real-time manner; the fusion of flight attitude data is realized by utilizing an attitude resolving unit, so that the flight attitude can be updated quickly in a real-time manner. The attitude resolving unit mainly applies the quaternion complementary filtering method, and can efficiently integrate the dynamic property of the gyroscope and the static response property of the accelerometer so as to compensate the integral error of the gyroscope. According to the data obtained after attitude resolution, a visualization unit module drives an aircraft model based on OpenG1 graphic base development to realize visualized simulation of the flight attitude, and presents the angular position movement in a wavy curve by utilizing a waveform drawing module.

Description

technical field [0001] The invention belongs to the field of micro-aircraft measurement and control. The method can realize the real-time, wireless recording and playback of the attitude parameters of the micro-aircraft during the ground test. Background technique [0002] Micro-miniature UAVs, such as micro-miniature quadrotor UAVs, have important potential application values ​​in many fields such as military reconnaissance, civilian use, and scientific research. In order to improve the stability of the flight control system and verify the control effects of various control algorithms, it is necessary to conduct a ground test on the prototype before the flight test to accumulate the corresponding relationship between control parameters and aircraft attitude changes. In view of the limited size and quality of micro-UAVs, if a traditional attitude monitor with a large mass is used, it will have a non-negligible impact on the accuracy of the measurement results. [0003] In m...

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Problems solved by technology

Drift error will accumulate over time

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