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A method for identifying parameters of multi-rotor dynamic model using Kalman filter

A Kalman filter and dynamic model technology, applied in the fields of guidance and control, and multi-rotor aircraft navigation, can solve problems such as implementation difficulties, and achieve the effect of easy implementation and optimal estimation.

Active Publication Date: 2019-07-19
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] In order to solve the technical problems raised by the above-mentioned background technology, the present invention proposes a method of using the Kalman filter to identify the parameters of the multi-rotor dynamic model, which solves the problem that the traditional parameter identification method does not consider the aircraft as a whole and is difficult to implement

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  • A method for identifying parameters of multi-rotor dynamic model using Kalman filter
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  • A method for identifying parameters of multi-rotor dynamic model using Kalman filter

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[0031] The invention will be described in further detail below in conjunction with the accompanying drawings.

[0032] A method for identifying parameters of a multirotor dynamics model using a Kalman filter, such as figure 1 As shown, the steps are as follows:

[0033] step 1:

[0034] Collect airborne sensor information, including the projection of the speed information of the aircraft system relative to the navigation system output by GPS on the x, y, and z axes of the aircraft system The output of the three-axis accelerometer [f bx f bx f bx ], the output of the three-axis gyroscope and the speed ω of each rotor of the multi-rotor aircraft i .

[0035] Step 2:

[0036] Taking the X-type quadrotor as an example, the following dynamic characteristic equation is established:

[0037]

[0038] In the above formula, T is the sum of the lift generated by the rotation of the rotor, and the direction is along the negative direction of the z-axis of the aircraft sys...

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Abstract

The invention discloses a method of identifying multi-rotor kinetic model parameters with a Kalman filter and belongs to the fields of navigation, guidance and control of multi-rotor aircrafts. The method includes the steps of: 1) collecting GPS, inertial navigation data and rotor rotating speed; 2) on the basis of a kinetic model equation and a Newtonian mechanics equation of the multi-rotor aircrafts, establishing a state equation and a measurement equation of the Kalman filter; 3) performing discretization to the Kalman filter, performing status update and outputting optimum estimation of the parameters. The method solves the problems that a conventional kinetic model parameter identification method is complex to carry out and is excessively high in demand on test equipment.

Description

technical field [0001] The invention relates to a method for identifying multi-rotor dynamic model parameters by using a Kalman filter, and belongs to the field of multi-rotor aircraft navigation, guidance and control. Background technique [0002] Multi-rotor aircraft has the characteristics of vertical take-off and landing, good maneuverability, low cost, etc., and has good adaptability to different environments. It is an ideal platform for many applications, such as agricultural seeding, aerial photography, weather monitoring, urban anti-terrorism, disaster areas Rescue, military reconnaissance and other aspects have shown broad application prospects. The dynamic model of the multi-rotor aircraft is the basis of the design and implementation of the multi-rotor control system, so the accurate identification of the parameters of the dynamic model is of great significance to the improvement of the performance of the aircraft. [0003] At present, the acquisition methods of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/20G06F17/16
CPCG01C21/20G06F17/16
Inventor 包胜吕品赖际舟刘士超
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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