Design And Realization Of UAV Attitude Measurement System Based On MEMS Device

When unmanned aerial vehicle(UAV) is executing the flight missions, its attitude information attracts the most attention, therefore, the research of UAV attitude measurement system is becoming a hot spot. MEMS sensors are extensively used in measurement field with the advantages of small size, low power. In this paper, a miniaturization and inexpensive attitude measurement system of UAV based on MEMS sensors is proposed, which can obtain the attitude angle and lay the foundation for attitude control. The basic working principle, the attitude calculation algorithm, the software and hardware design method of the attitude measurement system are studied as below.For the aspect of attitude calculation algorithm, firstly, as the primary measuring elements, the accuracy of MEMS accelerometer and MEMS gyroscope have important impact on the accuracy of the whole attitude measurement system, therefore, the signal of the MEMS accelerometer is filtered by low-pass filter and the signal of MEMS gyroscope is filtered by Kalman filter respectively. Secondly, this paper makes a further study of attitude calculation algorithm of the UAV attitude measurement system, and the attitude angle is acquired by quaternion algorithm using processed data from the MEMS sensors, thus, effectiveness of the algorithm is verified by the simulation experiment. Finally, in consideration of the different performance of MEMS accelerometer and MEMS gyroscope on the frequency response, a more accurate attitude angle is obtained through the complementary information fusion.In addition, this paper gives the overall plan of the UAV attitude measurement system that realized the processing of signals and the calculation of attitude based on MEMS sensors, specifically, the hardware and software of the system are modularized designed respectively, and the structure and function of every modules are discussed in this paper.