Flight Attitude And Measurement Of Quad-rotor

The mechanical structure of the quad-rotor is simple and symmetrical.Besides,it is easily manipulated and maintained and the volume of the body is small and flexible,making it widely used in military,commerce film and television and other fields.By inputting intelligent algorithms to it,the aircraft becomes more modern and intelligent.At the same time,the requirements for the real-time,precision and attitude stability of aircraft control are also improved.The research of precision and attitude stability of aircraft control has always been a difficult and hot spot domestically and abroad.In this paper,mathematical modeling,algorithm optimization and simulation of quad-rotor are performed.Finally,the effectiveness of the proposed method is verified on the actual experimental platform.Firstly,the domestic and foreign quad-rotor flight control algorithms and attitude filtering algorithms are analyzed and compared.Based on the flight principles of aircraft,the aircraft body coordinate system and inertial coordinate system are established,and the aircraft movement and dynamics model are established according to Newton’s second law and moment balance principle.According to the principle of sensor,a mathematical model of the sensor is established,and the sensor is calibrated by the upper computer to collect data.Secondly,the attitude filtering algorithm of the aircraft is optimized.On the basis of the EKF algorithm,the optimization process is as follows: two parallel EKFs are used to deal with the acquired attitude,the output data of the two EKFs is weighted,and finally the optimal attitude of the aircraft can be exported.Combining the conjugate PID control algorithm with the improved EKF(IEKF)algorithm,the attitude output of the conjugate PID controlled aircraft acts as the attitude information of the IEKF.The mixture of these can adjust the PID three parameters in real time and filter the noise effectively to get the most accurate posture information.Then,this paper simulates the EKF algorithm and the IEKF attitude solving algorithm and the conjugated PID control and the IEKF-based conjugated PID control algorithm(IEKF-CPID).The experimental results show that compared with the EKF algorithm,the IEKF better handles aircraft attitude stability.After calculation,the efficiency of IEKF is increased by 43.8%.Compared with the conjugated PID control algorithm,the IEKF-CPID has the advantages of fast response time,small overshoot,and strong robustness.Verify the effectiveness of this algorithm.Finally,a prototype quad-rotor aircraft prototype is built.By selecting the components of the aircraft,an aircraft model is built to calculate the performance parameters of the aircraft.Adjusting the throttle to a given amount allows the aircraft to take off and hover at the desired altitude.Through the data transmission module,the status information of the aircraft can be collected inreal time.Through the analysis of the experimental results,the accuracy of the attitude of the IEKF-CPID is improved by 44.4% compared with the conjugated PID control algorithm.Thus,the effectiveness can be verified.