Attitude determination system and method of small unmanned aerial vehicle

Abstract

The invention relates to an attitude determination system and method of a small unmanned aerial vehicle, which have the advantages of low cost, low consumption, simple algorithm and small calculated amount. The system comprises an angular rate gyro chip, a triaxial electronic compass chip, a triaxial accelerometer chip and a microcontroller chip, wherein the angular rate gyro chip is used for measuring rolling, pitching and yawing angular rates of the unmanned aerial vehicle; the triaxial electronic compass chip is used for measuring a flight path azimuth angle, namely a yawing angle, of the unmanned aerial vehicle in a flight process; the triaxial accelerometer chip is used for measuring a component of the gravity in a body coordinate axis of the unmanned aerial vehicle; the microcontroller chip is connected with the angular rate gyro chip, the triaxial electronic compass chip and the triaxial accelerometer chip through I<2>C buses and is used for acquiring measuring data of sensors and determining the real-time attitude of the unmanned aerial vehicle according to the acquired data and the attitude determination method. The method comprises the steps of establishing an initial direction cosine matrix between a body coordinate system and an inertial coordinate system of the unmanned aerial vehicle, updating an attitude direction cosine matrix, standardizing the direction cosine matrixes and counting a corrected triaxial angular speed and triaxial attitude angles of the unmanned aerial vehicle.

Description

Technical field [0001] The invention relates to the technical field of drone flight attitude determination, in particular to a low-cost, low-power consumption small drone attitude determination system and method based on multi-sensor data fusion. Background technique [0002] Due to its low cost, no casualties, and strong battlefield survivability, UAVs are widely used in many fields such as the reconnaissance and strike of military targets. They have become an important development direction of aviation technology and have attracted great attention from various countries. The attitude control system of the UAV is one of the important guarantee systems for the normal operation of the UAV and the completion of the flight mission, and the determination of the UAV attitude is the basis for achieving the attitude control. Therefore, in view of the low-cost characteristics of small UAVs, how to design a low-cost and high-reliability attitude determination system is a hot research top...

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Problems solved by technology

However, these filtering algorithms are computationally intensive and complex, and are obvious

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