Low Cost Integrated Navigation And Stability Control Of New Multi Rotor UAV

The multi rotor unmanned aerial vehicle(UAV)has developed rapidly in recent years.Its mechanical structure is simple and reliable,the maneuverability of the flight is varied,the actual manipulation is convenient and the environmental adaptability is very strong.More and more attention has been paid to the scientific research and engineering personnel,and the fruitful research results have been obtained.At present,the rotor UAV mostly adopts four rotor and six rotor configuration,and realizes the movement of six degrees of freedom by navigation and control.The four rotor principle is an underactuated system,and there are not enough actuators to guarantee redundancy.At the same time,the load capacity of the rotor is limited due to the number of rotor.The structure redundancy of the six rotor is high and the carrying capacity is greatly enhanced,but the vibration of the multi motor running machine is larger.The stability,precision and reliability of navigation and control are higher,and high quality navigation elements are used in the design,which greatly restricts the wide spread of the multi rotor.On the basis of the new CQ-12 rotor unmanned aerial vehicle(UAV)developed by the project group,this paper focuses on its low cost integrated navigation and flight stability control.The main work has the following aspects:The dynamics characteristics of the new CQ-12 rotor UAV are studied.On the basis of the analysis of the structural characteristics of the new UAV,the dynamic model of the change of the center of the center of mass and the change of the attitude of the center of mass is constructed,and the control relation is established and the motion equations are derived,which provides a more precise controlled model for the research of the UAV stability control algorithm.The pretreatment of low-cost integrated navigation sensor is studied.On the basis of analyzing the characteristics of low cost sensor,the error models of inertial measurement unit(INS),global positioning system(GNSS),magnetometer(COMPASS)and Barometer(BARO)are constructed respectively,and the error sources are analyzed.The fast on-site calibration algorithm for each sensor is proposed,and the corresponding on-line preprocessing method is designed for combined navigation.A stable and reliable source of data.The data fusion algorithm of low cost integrated navigation is studied.On the basis of comparison of various data fusion methods,a high dimension high dimension integrated navigation EKF algorithm with high output precision of low cost components is designed.The 24 dimensional state space is constructed and the detailed derivation equation of each step is given.The initial alignment technology of the algorithm is studied,combined with the noise abnormity caused by the large angle maneuver of the solid connection machine,a variance adaptive tuning scheme is proposed.It provides clear and detailed implementation methods for all researchers in urgent need of EKF algorithm engineering practice.The stability of EKF algorithm for low cost integrated navigation is studied.Aiming at the stability and reliability of high-dimensional EKF algorithm,a EKF-CPF active fault tolerant algorithm is proposed,which ensures long-term stable solution of EKF algorithm.The specific implementation process of Simulink is given in the simulation design of the algorithm,which provides a clear design reference for the EKF simulation realization that the researchers need urgently,and gives the actual parameters of each step.The real-time and effectiveness of the algorithm is verified by simulation and experiment.The attitude control algorithm of new CQ-12 UAV is studied.In view of the uncertainty and unmodeled disturbance of the UAV model,an adaptive method is introduced and the stability of the attitude control algorithm is proved.The attitude controller based on the Backstepping algorithm is designed.In order to solve the problem of computational complexity in the implementation of Backstepping engineering,the virtual instruction filtering method is introduced to ensure the stable tracking of the UAV attitude at the same time.The tracking effect of attitude controller is verified by simulation and experiment.The position control algorithm of new CQ-12 UAV is studied.A position controller based on auto disturbance rejection(ADRC)algorithm is designed for UAV's anti-jamming capability.Design the TD,ESO and NLSEF links.The flight control system with position controller and position controller is given.The tracking effect of the position controller is verified by simulation and measurement,and the practicality of the flight control algorithm is further verified by carrying the actual measurement of remote sensing load.The flight fault tolerant control algorithm is studied.According to the analysis and modeling of the source of the actuator fault,a fault detection algorithm with threshold discrimination is proposed,and a fault-tolerant controller which combines the adapator and the adaptive approximator is designed.The effectiveness of the fault-tolerant controller is verified by simulation,which lays a solid foundation for the reliability of the new rotor UAV flight control system.This paper is expected to contribute to the promotion and application of the low cost and high quality multi rotor UAV through the study of the low cost combined navigation and stability control algorithm of the new CQ-12 rotor.