Research On Attitude Calculation Of Small Unmanned Aerial Vehicles Based On Fuzzy Adaptive

Unmanned aerial vehicle(UAV)is a kind of poiltless vehicle operated by radio remote control equipment or autonomous flight program.It possesses broad development prospect,which has the advantages of small size,low cost and ease to use.Using real-time sensor data of UAV flight control system,the attitude calculation is one of the most important key steps to achieve stable flight for UAV,which can obtain the real-time and accuracy of attitude information.Although the traditional attitude calculation can obtain the attitude information,The real-time and accuracy performance of the algorithm are not satisfied,especially in the course of large-scale movement of small unmanned aerial vehicles(SUAV).Aimed at the basic problem of attitude calculation of SUVA,A complementary filtering algorithm based on fuzzy adaptive PI control using accelerometer data is propose’d,which uses the fuzzy adaptive algorithm and the error vector calculated by accelerometer data and gravity acceleration reference vector to adjust the parameters of the complementary filter.Finally,using the direction consine matrix(DCM)calculated by the gyrocope data and the algorithm to calulate the attitude.The flight control system platform is designed with STM32F427VIT6 as master chip and MPU6000 as attitude sensor.This improved attitude algorithm is added to the main program based on the real-time operating system NuttX to verify the feasibiltty,and the attitude angle calculated by this algorithm is compared with that calculated by using quaternion and Mahony complementary filtering algorithm.The results show that the improved algorithm can accurately calculate the attitude information of SUAV,and the response speed is better than Mahony complementary filtering algorithm.It has stronger real-time performance and can meet the control requirements of SUVA.