Based On MIMU/GPS Unmanned Aerial Vehicle's Control Research

UAV in the field of dual-use play an important role, but also more and more universal attention by the countries in the world. Integrated navigation technology as the core of UAV control, will become a hot topic in UAV research. With the MEMS (Micro-electromechanical Systems) technology is gradually becoming more mature and technology is developing rapidly, MEMS inertial. A global positioning (GPS) technology based on participation in the a combination of navigation system performance and accuracy than a single navigation systems, has obvious advantages.Based on MIMU (Micro Inertial Measurement Unit) strap down algorithm theory, a single MIMU strap down inertial navigation system, speed and longitude error simulation analysis; Given location combined with the degree of pseudo-distance, pseudo-range equation of state and the rate of group measurement equation to determine the composite system of correction methods for MIMU / GPS Integrated Navigation System in the Kalman filter and in the error of the simulation analysis; Compared the two kinds of navigation systems in the speed error and longitude error on the performance difference.Second, the DSP processor-based flight control system to conduct a feasibility analysis; DSP and other devices of the selection; according to a distributed control theory.Finally, the system was debugged. Respectively 1.0ms, 1.5ms, 2ms when the PWM waveform of the debugging can be a good control of the steering gear from 0~90 for any angle of rotation; Through the U-center software to the global positioning system acceptance testing, serial data loaded into the host, a good observation to the current vector of the latitude, longitude, altitude and transport protocol data format; Right on MIMU/GPS Integrated System of velocity, acceleration, as well as the attitude angle of the tests to demonstrate that the system location information collection and processing to achieve a good correction of displacement.