Method and system for resolving attitude of unmanned aerial vehicle with double controller

Abstract

The invention relates to a method and a system for resolving an attitude of an unmanned aerial vehicle with double controller. An unmanned aerial vehicle attitude resolving system which includes a main engine and a slave engine is arranged; in the main engine, an attitude angle resolved by an accelerometer and an electronic compass is adopted for performing drift compensation on the attitude angleresolved by a gyroscope, a complementary filtering algorithm is adopted for primarily fusing the attitude angle resolved by the accelerometer and the electronic compass with the attitude angle resolved by the gyroscope, noise is filtered and attitude angle drifting is restrained; the attitude angle after complementary filtering is transmitted to the slave engine, an EKF is adopted for promoting the resolving accuracy of attitude angle and the resolved high-precision attitude angle is transmitted by the slave engine to the main engine for attitude compensation and control in the manner of taking 50HZ as a period; the EKF is an expanded kalman filter algorithm; when no attitude angle information is received by the main engine from the slave engine, the attitude angle resolved by the complementary filtering algorithm in the main engine is adopted for controlling attitude. The system provided by the invention can promote the accuracy of resolved attitude and has high practicability.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a method and system for calculating the attitude of an unmanned aerial vehicle with dual controllers. Background technique [0002] With the continuous development of micro-electromechanical system technology (MEMS) and computer technology, low-cost strapdown inertial measurement units (IMUs) are widely used in small aircraft. Strapdown inertial measurement units consist of three-axis gyroscopes and three-axis accelerometers. and electronic compass. Gyroscopes are affected by temperature drift. The long-term running drift is serious, and the integral operation will produce accumulated errors; the accelerometer is easily affected by the carrier vibration and motion acceleration; the electronic compass is easily affected by the external magnetic field. Therefore, these three sensors cannot be used for the measurement of aircraft attitude alone. The fusion of these ...

AI Technical Summary

Problems solved by technology

[0003] The principle of complementary filtering is simple, and it can filter out noise and suppress drift. Because it is not easy to determine the appropriate high-pass and low-pass cut-off frequencies, the accuracy is not high; the combination of conjugate gradient method filtering and complementary filtering in the attitude calculation application, there is iteration The balance between calculation amount and accuracy; EKF and UKF are Kalman filter filtering methods for nonlinear systems. EKF has linearization errors and truncation errors, which have little effect on general nonlinear systems; UKF is in the convergence speed and estimation accuracy. It is higher than EKF, but its calculation amount is larger than that of EKF, and their system noise and observation noise are not easy to determine, and the calculated attitude angle is easily disturbed by noise

At the same time, the large amount of calculation of EKF and UKF will have a great impact on the real-time performance required in the attitude settlement

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