Research On Sensor Fusion Based Flight Control System Fusion Of UAV

The miniature Helicopter is a typical multi-input multi-output system , includes many special characteristics , such as coupling , non-stability and non-minimum phase . Compared with the fixed wing aircraft, small-size helicopter is more superior in flexibility and maneuverability . The small-size Helicopter have been great needed in army and civil fields , so it's significant to make a research on small-size unmanned Helicopter control technology .At fist, this thesis introduce the development of the small-size Helicopter and it's control system . Combining the characteristic of the technical development of navigation and the need of the navigation computer system , the author particularly expatiates on the main idea of designing the hardware system of navigation computer which based on the DSP . The system includes the circuitry models function in sensor data collection , servo controlling and power supply . And several software models such as sensor integration , attitude calculation and flight controlling are implemented on it . Flight control system and navigation system is close in relationship . Navigation system provides accurate flight parameters for flight control system . In the fourth chapter the author give and achieve a method based on the unscented Kalman Filter to the navigation to gain an accurate measurement of the helicopter's attitude , velocity and position .The research approves that designing the navigation computer system based on DSP can effectively get the computer precision and speed of Inertial Navigation System , minish the cubage , power and cost. It can make the small-size unmanned Helicopter having great value of application , better future of market and great significance of military .