Small Unmanned Aerial Vehicle (uav) Attitude Measurement And Control System Research

With the rapid development of aviation science and technology, the airsuperiority has become a very important factor in determining the outcome of abattlefield. At the same time, with the pursuit of the minimizing casualties, the moreand more developed countries, including the United States, recognized that theapplication of automation is very significant to the modern warfare. Therefore, theUnmanned Aerial Vehicle (UAV) has become a hotspot around the world. The subjectof this paper is to design a micro measurement and control system, which with thehigh portability and the minute extension, for the micro aerial vehicles.The micro measurement and control system for the micro aerial vehicles (MMCS)is the hard-core subsystem of the micro aerial vehicles (MAV). With the view to thecharacteristics of the MAV, the MMCS has been designed with the integration of theMEMS sensors and the embedded processor. With the conception of themodularization, the multi-subsystem (including: attitude information acquisitionmodule, flight policy control module, etc.) was combined to a micro attitudemeasurement and control systems, which was high-precision, low-power, highscalability, etc.This paper presents a method of the quadrature error compensation, themulti-sensor data fusion based on Kalman Filter, the horizontal and verticaldecoupling feedforward control algorithm, the incremental PID fight controller, andthe guidance control of the specialistic strategy.The proposed attitude measurement algorithm reduces the measuring erroreffectively, and improves the measuring accuracy; the hard-core algorithm of fightcontrol has enhanced the robustness and stability of the MAV.The result of this research has provided a reference to the design of theman-portable unmanned aerial vehicles...