Research On The Inertial Navigation System Of Four Rotor Helicopter

As a small volume, low cost and simple structure of unmanned helicopter four rotor has been more and more popular. The research and design of inertial navigation system make a great significance to improve the stability of the quad-rotor to fly, and point set sail the precision of the flight. The purpose of this paper is to design a high precision inertial navigation device with a simple communication protocol. This paper makes a deep research on the field of the inertial navigation system, communication protocol, filtering algorithm and so on.The paper first introduces several common navigation modes such as the GPS, Beidou satellite navigation, inertial navigation and so on, and describes the principle and development process of the inertial navigation in detail. Then it makes a research with the algorithm theory of inertial navigation system navigation, including the carrier attitude, speed and the calculating method of position. Moreover it designs an inertial navigation with low cost and relatively high accuracy which has Atmega644p as the core processing chip, the ADXL345as accelerometer and gyroscope L3G4200D as composed. It also gives the circuit diagram and PCB board of system. Then the paper mainly describes two kinds of the most common filtering methods in the inertial navigation system, which are Kalman filter and complementary filter.It also uses the inertial navigation tools of MATLAB to make the simulation to the two kinds of filter methods. Finally it writes the software part of the four rotor inertial navigation system in WINAVR environment and designs a PC software of inertial navigation system on the environment of C++Builder6.0. This paper puts forward a new serial communication protocol, which makes data reading more convenient. Through the experiments of static, dynamic, and improve accuracy test, it validates the correctness of hardware design and the feasibility of the algorithm.The major breakthrough in the design of the inertial navigation system is:It designs a separate subsystem with an integrated core processing chip and some inertial sensors, and made it into a separate PCB board; Formulates a new serial communication protocol, data transmission is more steady and efficiently; It also chooses complementary filter method to the data processing of navigation original to reduce the noise influence on the precision of navigation system. The experimental results show that after using this filter algorithm, the navigation precision is greatly improved; This paper uses C++Builder6.0to design a PC software, and the PC software can be used for system debugging, system testing and showing the movement trend of motion carrier.