Design And Implementation Of Attitude Estimation System Of Micro Air Vehicle

Attitude estimation is one of the key techniques for aircraft attitude control, which has been widely used in aircrafts. With the rapid development of micro air vehicles in recent years, micro attitude estimation system research has drawed many people's attention, and has become a new research hotspot. Different with traditional attitude estimation systems, the attitude estimation system for micro air vehicles has characteristics of small size and low power onsumption, which brings the differences in design.The design of micro air vehicle attitude estimation system mainly includes the MEMS inertial attitude solution algorithm design, data fusion algorithm, the hardware and software.MEMS inertial sensors are the core component in the micro attitude estimation system. Compared with the traditional inertial sensors, MEMS sensors have smaller size and lower power consumption, but also have low precision, which brings some difficulties to the attitude estimation. By using inertial navigation theory, this paper has realized the the quaternion method for attitude calculation with MEMS inertial sensors as data sources, but the result only reliable in a short time.To solve the problem of lack of long-term accuracy in attitude calculation, we need to use data fusion algorithm to combine attitude calculation result and other information, to enhance the stability of the MEMS inertial measurement system. Complementary filters and the Quaternion Kalman algorithm are discussed in the papers, and gravity measurements are used.This paper applied algorithms on embedded platforms, including the design and implementation of circuit schematic and PCB of micro attitude estimation system, as well as a software architecture using state machines and message mechanism, based on which the hardware drivers and application program is realized.At last, the communication system to PC was realized, and a simple test is done. Test results showed that the pose estimation system have good static stability, can reflect the mothion tendency in dynamic, and have robustness against external interference, which improved the practical value of the system.