Based On The Combina Of Micro Intetial Rotor Aircraft Attitude Detection And Control Algorithm Research

Rotor aircraft contains the clear mechanical structure, convenient handling, can fly vertical take-off and landing, independent and autonomous landing characteristics, etc. And make it on a large scale in the military category and business category. This subject for rotor aircraft exists in the attitude control module to the weak anti-interference ability of frequency factor of low utilization rate, poor stability and low cost category, the research developed a set of innovation based on the low cost inertial measurement unit rotor aircraft flying attitude detection and control system.Research content mainly includes using a low-cost MEMS inertial sensors for realtime detection of aircraft,At first,doing the low cost MEMS inertial sensors do first fast error calibration analysis.Using the modified kalman filter the multiple sources of information fusion technology and PID control scheme based on genetic algorithm,to get the attitude datas of unmanned aerial vehicle attitude information.Finally through the brushless dc motor vehicle driver’s feedback to achieve the ideal effect of flight. This research by this algorithm in the application of the flight control system of attitude algorithm and attitude control module. Attitude algorithm unit is to be measured carrier posture and position data to complete the processing. Attitude control unit is adjusted to change the movement direction of the unmanned aerial vehicle.Checked with the existing research results at home and abroad, this subject main research results in:At first,for the low cost MEMS IMU module,fast calibration algorithm is developed.Through the experimental data,cost of zero bias and time-varying characteristics of inertial measurement unit is not prominent, so the system fixed zero partial on-site fast calibration;Secondly this system in attitude algorithm unit put forward a kind of innovation of micro inertial unit information integration improved attitude determination algorithm of kalman filtering,Through the experimental data, the optimized algorithm can improve filtering efficiency, get a more reliable carrier attitude data values;Finally,the PID control strategy based on genetic algorithm is proposed in this system.Through improved kalman filtering algorithm for detecting combined inertial unit datas,to get the real value of the multiple UAV rotorcraft in flight state.Through the high accuracy of numerical,construct the controller dynamics model, getting the transfer function of the controller;Later,using the genetic algorithm to search the optimal solution of the PID controller parameters, the optimal PID control weight value can be got.