Finite-time Attitude Fusion Algorithm For Quadrotor UAV

Quadrotor aircraft,as the efficient multi-rotor Unmanned Aerial Vehicle(UAV),has gradually become one of the focus of aircraft research because of its good flexibility and wide application.As one of the hot topics of UAV research,aircraft attitude control needs to use the attitude value estimated by the inertial sensor measurement data fusion.The accuracy and stability of the acquired attitude affect the accuracy and stability of the control.Hence,the attitude fusion of aircraft is one of the hot topics in the academic field.This thesis first introduces the concepts of attitude fusion,including three common methods used in attitude description,and the two most common methods of attitude fusion in the market.Then,based on the attitude kinematics model of the quadrotor,a finite-time attitude fusion algorithm based on Euler Angle is proposed to improve the accuracy and rapidity of attitude fusion.Secondly,considering the singularity of the attitude described by Euler Angle,based on the quaternion attitude kinematics model,a quaternion based finite-time attitude fusion algorithm is redesigned to eliminate the influence of singularity.Finally,in order to validate the presented fusion algorithm,this thesis builds the corresponding experiment platform,with Kalman Filtering and fusion of Classical Complementary Filter algorithm contrast experiment,verified the proposed in this thesis based on the finite time complementary filter algorithm of the model in the static experiments and dynamic tracing experiment,can obtain higher fusion accuracy.The main innovation points of this thesis are as follows:(1)In this thesis,a finite-time attitude fusion method based on Euler Angle is designed.According to the Finite-time and Homogeneity lemma,this thesis proposes a finite-time posture fusion method based on Euler Angle,the core idea is to design a finite-time observer to estimate the attitude,and by constructing Lyapunov function and based on homogeneity of control theory is theoretically verified the observer output attitude estimation can converge to the real value in a finite time.(2)Euler angles are analyzed in this thesis to describe attitude causes of singularity.This thesis introduces the singularity is used to describe the attitude and method to describe the four parameters of quaternions,based on quaternion kinematics and dynamics analysis,the thesis designs a new finite-time observer.(3)In this thesis,the attitude experiment platform is built.This thesis use three attitude fusion algorithm(Finite-time attitude Complementary Filter proposed in this thesis,Kalman Filtering and the Classic Complementary Filter)for fusion estimation,and use PC for aircraft control and experiments,and compare with the high precision attitude sensor measurement results.The experimental results show that the proposed attitude fusion algorithm is superior to the other two fusion algorithms in accuracy in both static and dynamic conditions.