A Kalman filter-based attitude control method for small transport vehicles

Abstract

The invention provides a small transporter attitude control method based on Kalman filtering. The control cost is low, active orbital transferring can be performed and the flight accuracy can be enhanced. The method comprises the following steps that S1, the current triaxial angle and the triaxial angular velocity of a small transporter are acquired through the gyroscope arranged on the small transporter; S2, the acquired current triaxial angle data of the small transporter are processed through filtering of the gyroscope so as to obtain the current stable triaxial angle of the small transporter; S3, the acquired current triaxial angular velocity data of the small transporter are processed by using a dynamic Kalman filtering algorithm so as to obtain the current stable triaxial angular velocity of the small transporter; S4, the stable triaxial angle and the triaxial angular velocity act as the input signals of a PID controller, and the control surface deflection angle of the small transporter is obtained through processing of the PID controller; and S5, the control surface deflection angle of the small transporter is converted into PWM signals to be transmitted to the correspondingsteering engine, and the steering engine actuates so as to adjust the flight attitude of the small transporter.

Description

technical field [0001] The invention relates to an attitude control method, more specifically a Kalman filter-based attitude control method for small transport vehicles. Background technique [0002] Existing small transporter flight control mostly is passive control, promptly adds the empennage that is used for stabilizing flight at the afterbody of transporter. For direction control, launch guide rails are often used for direction guidance during takeoff. [0003] The technology of stabilizing the flight attitude through the tail can only stabilize the flight trajectory of the transporter, but it cannot actively change the trajectory, that is, there is no ability to correct the wrong trajectory, and it does not have the ability to accurately transport goods. As for the technology of guiding the direction of the guide rail, because the orbit is uncontrollable after launch, and it is vulnerable to interference from the outside world such as wind power boarding, it cannot ca...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems that the navigation system is expensive, the technology is complicated, and the track cannot be changed actively in the existing attitude control method for small vehicles, the present invention provides a Kalman filter-based attitude control method for small vehicles, which can be achieved at low cost. The flight control of the small transporter can be realized by means of the method, and the orbit can be changed actively, which improves the flight accuracy

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