Unmanned aerial vehicle PM2.5 detecting device based on complementary filtering attitude fusion algorithm

Abstract

The invention discloses an unmanned aerial vehicle PM2.5 detecting device based on a complementary filtering attitude fusion algorithm, and belongs to the field of haze environment detection. The unmanned aerial vehicle PM2.5 detecting device comprises a four-rotor unmanned aerial vehicle and a PM2.5 detecting device, wherein the PM2.5 detecting device adopts an AGS-V8PM2.5 dust sensor; an attitude reference system comprises an aircraft stability control module based on the complementary filtering attitude fusion algorithm; the stability control module comprises a complementary filter combining Allan variance analysis with indirect Kalman filtering and combining first-order low-pass filtering with first-order high-pass filtering; the stability of an aircraft is successively controlled twice by two different complementary filtering algorithms, so that the four-rotor unmanned aerial vehicle stays at a certain fixed position more stably. The unmanned aerial vehicle PM2.5 detecting devicecan not only detect the concentration of PM2.5 in air, but also solves the problem that the height drop accuracy of the unmanned aerial vehicle is not high due to too low data refreshing rate of low-cost GPS as well as data lag during high-speed motion, and has the characteristics of strong anti-interference capability and high stability.

Description

technical field [0001] The invention relates to the field of smog control, in particular to a UAV PM2.5 detection device based on a complementary filtering attitude fusion algorithm. Background technique [0002] In recent years, my country's smog weather has become more and more severe, and the air quality problem has attracted great attention from the whole society. With the increasingly wide application of aircraft in daily life, the miniature PM2.5 detection quadrotor UAV detection equipment will become the concern of society and human beings. High-altitude detection requires a quadrotor UAV to carry a PM2.5 monitoring device. The design of the control system is the key and core to realize the autonomous flight of the UAV. The performance of the flight control system directly determines the flight performance of the PM2.5 quad-rotor UAV and the completion of the task. Because the rotor of the rotorcraft vibrates strongly when the rotor rotates, the attitude reference s...

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Problems solved by technology

[0004] The purpose of the present invention is to provide a UAV PM2.5 detection device based on a complementary filter attitude fusion algorithm, which is used to detect the concentration of PM2.5 in the air, and at the same time solve the problem of low-cost GPS data refresh rate. Data lag during high-speed movement leads to low accuracy of UAV height drop

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