Research On Attitude Fusion And Flight Control Technology For Micro-unmanned Helicopter

Based on the sensor placement of small-scale agricultural unmanned helicopter,this paper did some research on complementary filter and kalman filter in the application of attitude fusion.On this basis,this paper designed the control law based on joystick of each channel.The attitude fusion and joystick control technologies were intensive studied in this paper.The application of micro-inertial sensors and measurement unit in navigation and guidance system become more and more widespread.However, because of the existence of gyroscope drift, which caused the cumulative error,and the influence of moving acceleration coupling with gravity acceleration by utilizing accelerometer.To solve this problem,this paper did research on algorithm of attitude fusion by micromachined gyroscope, accelerometer and magnetometer.Based on the static and dynamic characteristics of attitude estimation by single sensor,adaptive complementary filter based on quaternion is designed to realize sensor fusion.On this basis,this paper applied extend kalman filter to estimate attitude.Adaptive covariance matrix is designed to reduct error.In the basis of fusion results and rest sensor signals,this paper designed joystick control law of helicopter's each channel during hover/low-speed flight.Considering the specific application and high mobility requirement of agricultural helicopter,joystick control mode and functions were defined. With these schemes, joystick velocity control strategy is developed.According to the linear modelinternal and external loop control law is designed.And air route including all periods of hover/low-speed flight is designed to do simulation and flight test.The simulation and flight test data show that kalman filter can take advantage of features of each sensor, and get high accuracy,high stability attitude signal.A good flight test result has been achieved using the fusion attitude and control law designed in this paper.The control mode of velocity command by joystick satisfy the demands of flight.It's strong in engineering application.