Research On UAV AHRS Application System Of High Precision And Low Cost

In recent years UAV industry has been greatly developed. Especially in the consumer area, micro quad-rotor UAV has broad application prospects and is constantly applied to film shooting, air transport and other fields.The precision of attitude calculation is a precondition for ensuring stable flight of aircraft. The traditional military UAV mostly adopts aircraft-grade or tactical level MEMS sensors with high precision which are often bulky and costly. Customer drones need to consider a lot of factors such as the cost and size of the sensor, in addition to face issues, such as algorithm immaturity, lack of device performance, navigation accuracy decreased rapidly when the GPS fails and other issues. The aim of this paper is to establish a high precision, low-cost and small size AHRS for micro and small quad-rotor UAV.In this paper, the problem of attitude solution for quad-rotor UAV is studided, and the design of AHRS based on MEMS devices is described, including the attitude updating theory, the attitude solution method and the fusion method of attitude. According to overall system design, this paper firstly designed the UAV AHRS based on ADSP-BF609 and IMU ADIS16365, Then, establish a complete AHRS attitude algorithm processes. Based on quaternion, UAV AHRS uses the gradient descent method to process the accelerometer data, which fused with gyroscope data through complementary filtering method, and eventually UAV AHRS attitude information acquisition is realized.In order to make the laboratory research results can be applied to consumer-lever quad-rotor UAV, this paper proposes a new UAV AHRS design. The system is based on ADSP-BF706 digital signal processor, which uses ADXRS290 and ADXL355 to form the micro inertial measurement system to collect the angualr velocity and accleration data, and attitude information will be obtained after attitude fusion.The result of UAV AHRS attitude test shows that AHRS based on ADSP-BF706 works well. Information from AHRS based on ADSP-BF706 and ADSP-BF609 is consistent, and the AHRS based on ADSP-BF706 is low-cost and smaller, has good engineering application value.