Research On Attitude Control Of Quadrotor Based On Multi-sensor Fusion

With the progress of science and technology,more and more occasions need four rotor unmanned aerial vehicles have a certain autonomy,and unmanned aerial vehicle own pose estimation is the foundation of many related applications and key protection.Therefore,in order to accurately position estimation,the current four rotor aircraft equipped with all kinds of advanced equipment.In the design of the four rotor aircraft position control system,the need to consider many factors,such as performance,weight,payload and cost,how to design a more perfect uav system,you need to weigh these factors.Standard sensor of unmanned aerial vehicle bearing is composed of the gyroscope,accelerometer and magnetometer inertial measurement unit(IMU).Outdoor location is usually measured in global satellite positioning system(GPS),and laser radar and ultrasonic sensor is mainly used for obstacle avoidance.Since most current rotor aircraft more size and load are very limited,can't load the higher precision of sensor for spacecraft attitude and location information for accurate measurement,so in order to get accurate position information becomes very difficult.In this paper,the rotor unmanned aerial vehicles are common in more than four rotor aircraft as the research object,studied its position posture control strategy.In view of the current position control system of uavs in indoor or GPS signal loss situation stability is poorer,positioning accuracy is not high and the difficulty,we design a position control system based on multi-sensor data fusion.In order to solve the four rotor aircraft problem,cannot use GPS positioning indoors is proposed in this paper using optical flow and other multiple sensor information fusion scheme to estimate the navigation information.According to the characteristics of different sensors,designed the different methods of information fusion,effective and reliable information of the sensor data fusion.From the information fusion algorithm,horizontal position and speed information fusion,vertical velocity and height information fusion three aspects introduced in this paper,the design method of multiple sensor information fusion,through the simulation experiment proves that the estimation accuracy of navigation information.In order to realize the control of the four rotor aircraft flying in the interior stability,based on PID control algorithm is designed for PID control strategy,this paper respectively from the attitude control,horizontal position keeping control and vertical height control three directions,different cascade PID controller is designed.Make full use of the characteristics of different sensors,complementary advantages,to achieve more precise control of the four rotor aircraft flying in interior stability.Finally,through constructing four rotor aircraft platform,carries on the actual flight,analysis of experimental results,verifies the design in this paper four rotor aircraft position accuracy and reliability of control system.To meet the basic requirements of aircraft flying in the interior stability.