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UAV (Unmanned Aerial Vehicle) attitude estimation method based on single antenna GPS and IMU under large maneuvering conditions

A large maneuvering, single-antenna technology, applied in the field of UAV navigation, can solve problems such as large solution error, poor high-frequency dynamic characteristics, and cumulative error of gyroscope integration, achieving fast operation speed, low hardware requirements, and low cost. Effect

Pending Publication Date: 2020-02-14
HARBIN INST OF TECH
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Problems solved by technology

But it also has some defects: for example, the zero point of the gyroscope will drift with the change of temperature and other external environmental factors, and the integration of the output value of the gyroscope will generate cumulative errors, and the solution error will be large after long-term operation
It has the following defects: there is high-frequency noise interference, high-frequency dynamic characteristics are poor, its output cannot respond quickly to the rapid change of attitude angle, and it is easily disturbed by external acceleration. If there is an acceleration other than the acceleration of gravity, it will not be possible to obtain exact attitude angle

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  • UAV (Unmanned Aerial Vehicle) attitude estimation method based on single antenna GPS and IMU under large maneuvering conditions
  • UAV (Unmanned Aerial Vehicle) attitude estimation method based on single antenna GPS and IMU under large maneuvering conditions
  • UAV (Unmanned Aerial Vehicle) attitude estimation method based on single antenna GPS and IMU under large maneuvering conditions

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[0059] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0060] A UAV attitude estimation method under large maneuvering conditions based on single-antenna GPS and IMU, such as figure 1 shown, including the following steps:

[0061] Step 1: Set the initial attitude quaternion and process the sensor data. Low-pass filtering is performed on the output data of the gyroscope and accelerometer, and the difference of the GPS measurement value is obtained to obtain the linear acceleration compensation accelerometer data;

[0062] Step 2: Construct the transformation matrix according to the attitude quaternion, and use the accelerometer data to calculate the error amount of the reference attitude quaternion. The coordinate system is defined as image 3 shown;

[0063] Step 3: Design a PI controller to complete the compensation of the accelerometer to the gyroscope drift. The principle of the PI controller is as follows figure...

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Abstract

The invention provides an attitude estimation algorithm based on a low-cost MEMS sensor and a single antenna GPS and applied to an UAV (Unmanned Aerial Vehicle) under large maneuvering conditions. Thealgorithm differentiates the speed values measured by GPS, compensates the linear acceleration measured by the IMU based on the obtained results, corrects the drift of the gyroscope based on the corrected acceleration information by using a complementary filtering fusion algorithm to obtain accuracy estimation of the current attitude angle, uses GPS information in real time to correct the yaw angle during the flight of the UAV using BTT control, and outputs the optimal attitude information that is fused and corrected.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation, and in particular relates to a method for estimating the attitude of an unmanned aerial vehicle under large maneuvering conditions based on single-antenna GPS and IMU. Background technique [0002] Unmanned aerial vehicle (Unmanned Aerial Vehicle), also referred to as unmanned aerial vehicle, is an unmanned aircraft that uses radio remote control and an onboard program controller to operate. It first appeared in the 1920s and was used as a target drone in military training. After nearly a hundred years of continuous development, it gradually turned to various multi-purpose fields such as reconnaissance and attack. Compared with manned aircraft, it has the advantages of low cost, strong survivability, no risk of casualties, and convenient use, so it can not only play an important role in the military, but also has broad application prospects in the civilian field. [00...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 沈锋卢旺徐定杰周威赵雨晴
Owner HARBIN INST OF TECH
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