Research Of Multi-rotor Attitude Posture Based On Inertial Motion Capture

Multi-rotor aircraft has been widely used in many fields, such as surveillance,emergency rescue and disaster relief, agricultural production, but it also has some problems, like complex operation, flight attitude instability, and low safety.This paper makes a study on four-rotor aircraft, through the data collection,attitude analysis, and motion simulation. The main research contents include following aspect:(1) It describes the current research of the multi-rotor technology and inertial motion capture technology at home and abroad. On the basis, it proposes a method to use the inertial motion capture sensors to collect the four-rotor’s attitude data, and analyze the collect data in detail.(2) According to the kinematics model of the four-rotor, it analyzes the collect data of the four-rotor’s attitude, and puts forward the rule-model between the four-rotor’s flight model motion data. At the same time, it uses the Fourier curve to fit the motion attitude data of different flight model.(3) It uses the theories of data driven and Bézier to improve the tradition simulation method, overcoming the shortcoming of the static and Serial. Thereby, it also enhances the contact mechanism between the simulation calculation and experimental observation, and improves the Interaction between of them.(4) It applies the theory and method of comprehensive, above the research, and constructs the four-rotor flight attitude simulation and control system. And then, it introduces the function module, test data, and engineering application.This paper studies the four-rotor flight attitude simulation and analysis method.It has reference significance for multi-rotor’s flight attitude research, and it is also conductive to the multi-rotor’s flight control system design. It ensures the stability and safety of the multi-rotor’s flight.